Multi-loop adaptive control of mobile objects in solving trajectory tracking tasks

The algorithms of model reference parametric adaptation are considered, providing the astaticism and disturbances estimation. The structure of the control system is suggested allowing to design multivariable controllers providing the movement along the specified trajectories for an object described by kinematics and dynamics of mechanical systems in three-dimensional space. The asymptotic stability of a closed-loop adaptive system including a loop to provide astaticism is proved by the method of Lyapunov functions. The errors analysis is carried out of disturbances estimation by asymptotic observer. The boundaries of the estimation error are shown, and the relations are given to adjust the observer parameters. The results of the numerical investigations are given.