|
Upravlenie Bol'shimi Sistemami, 2017, Issue 69, Pages 29–49
(Mi ubs929)
|
|
|
|
This article is cited in 33 scientific papers (total in 33 papers)
Mathematical Control Theory
Synthesis of a multifunctional tracking system in conditions of uncertainty
D. Krasnov, A. V. Utkin Institute of Control Sciences of RAS, Moscow
Abstract:
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.
Keywords:
nonlinear affine single-input single-output systems, tracking, discontinuous control, state observer, invariance, decomposition.
Received: May 15, 2017 Published: September 30, 2017
Citation:
D. Krasnov, A. V. Utkin, “Synthesis of a multifunctional tracking system in conditions of uncertainty”, UBS, 69 (2017), 29–49; Automation and Remote Control, 80:9 (2019), 1704–1716
Linking options:
https://www.mathnet.ru/eng/ubs929 https://www.mathnet.ru/eng/ubs/v69/p29
|
Statistics & downloads: |
Abstract page: | 242 | Full-text PDF : | 58 | References: | 34 |
|