Modeling and Control of a Remote Control Weapon Station
Helmi Abrougui, Samir Nejim, Habib Dallagi · 2024
Remote Control Weapon Station RCWS are, nowadays, used by Military for target observation, tracking and accurate firing. The complexity of this system and the uncertainty of several parameters pushed researchers to search for suitable control laws. In this paper, the kinematic and the dynamic model of a RCWS were developed using Denevit-Hertenberg and Lagrangian methods. Then, a control law is developed using sliding mode technique and Lyapunov theory. Control parameters are calculated and simulation results are presented to show the effectiveness of the designed controller.