Synthesis of a Multifunctional Tracking System in Conditions of Uncertainty

Class of affine nonlinear single-input single-output systems, where the relative degree of the equivalent form of the input-output is invariant to the presence of external, unmatched disturbances, is formalized. Methods of synthesis of a multifunctional tracking system in the conditions of parametri...

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Bibliographic Details
Published in:Automation and remote control 2019-09, Vol.80 (9), p.1704-1716
Main Authors: Krasnov, D. V., Utkin, A. V.
Format: Article
Language:English
Subjects:
CAE) and Design
Calculus of Variations and Optimal Control
Optimization
Computer simulation
Computer-Aided Engineering (CAD
Control
D C motors
Electric motors
Error analysis
Large Scale Systems Control
Mathematics
Mathematics and Statistics
Mechanical Engineering
Mechatronics
Nonlinear systems
Pendulums
Robotics
SISO (control systems)
State variable
Synthesis
Systems Theory
Tracking errors
Tracking systems
Uncertainty
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Summary:Class of affine nonlinear single-input single-output systems, where the relative degree of the equivalent form of the input-output is invariant to the presence of external, unmatched disturbances, is formalized. Methods of synthesis of a multifunctional tracking system in the conditions of parametric uncertainty of the control plant model and incomplete measurements are designed for this class of systems. The original method of synthesis of a low dimension observer for estimating mixed variables (these are combinations of state variables, external influences and their derivatives) by measuring only tracking error is designed for information support of discontinuous control. In this observer, using the linear corrective effects with saturation, the method of separating the movements of observation errors is realized. As an illustration of the developed method, an electromechanical control object is considered-an inverted pendulum controlled by a DC motor. The simulation results for the worst case of varying parameters are given.
ISSN:0005-1179
1608-3032
DOI:10.1134/S000511791909011X