doi: 10.17586/2226-1494-2017-17-3-564-567


NEW DESIGN METHOD OF OUTPUT ROBUST CONTROL ALGORITHMS

O. I. Borisov, A. A. Pyrkin


Read the full article  ';
Article in Russian

For citation: Borisov O.I., Pyrkin A.A. New design method of output robust control algorithms. Scientific and Technical Journal of Information Technologies, Mechanics and Optics, 2017, vol. 17, no. 3, pp. 564–567 (in Russian). doi: 10.17586/2226-1494-2017-17-3-564-567

Abstract

The paper deals with design method of an output robust controller known as the consecutive compensator for output stabilization of uncertain plants. An idea is based on transition from operator form of the regulator to its matrix representation that permits the usage of auxiliary tools (e.g. linear matrix inequalities). The new design method enables to develop the known result and get effective solutions for such tasks as discretization, optimization and adaptation.The paper provides simulation results to confirm efficiency of the proposed regulator. They illustrate stabilization of uncertain plant with one stable zero and two unstable poles with settling time less than the given one


Keywords: consecutive compensator, robust control, output control, discretization, optimization, adaptation

Acknowledgements. This work was supported by the Russian Federation President Grant No.14.Y31.16.9281-НШ.

References
1.     Bobtsov A.A. Robust output-control for a linear system with uncertain coefficients. Automation and Remote Control, 2002, vol. 63, no. 11, pp. 1794–1802. doi: 10.1023/A:1020907415730
2.     Vlasov S.M., Borisov O.I., Gromov V.S., Pyrkin A.A., Bobtsov A.A. Robust system of dynamic positioning for robotized model of surface craft. Journal of Instrument Engineering, 2015, vol. 58, no. 9, pp. 713–719. (In Russian)
3.     Petranevsky I.V., Borisov O.I., Gromov V.S., Pyrkin A.A. Output сontroller for quadrocopter with wind disturbance cancellation. Scientific and Technical Journal of Information Technologies, Mechanics and Optics, 2015, vol. 15, no. 6, pp. 1045–1053. (In Russian)doi: 10.17586/2226-1494-2015-15-6-1045-1053
4.     Vlasov S.M., Borisov O.I., Gromov V.S., Pyrkin A.A., Bobtsov A.A. Algorithms of adaptive and robust output control for a robotic prototype of a surface vessel. Mechatronics, Automation, Control, 2016, vol. 17, no. 1, pp. 18–25. (In Russian)
5.     Miroshnik I.V., Nikiforov V.O., Fradkov A.L. Nonlinear and Adaptive Control of Complex Dynamic Systems. St. Petersburg, Nauka Publ., 2000, 549 p.(In Russian)
6.     Fradkov A.L. Synthesis of adaptive stabilization system of linear dynamic object. Avtomatika i Telemekhanika, 1974, no. 12, pp. 96–103. (In Russian)
7.     Serrani A., Isidori A., Marconi L. Semiglobal nonlinear output regulation with adaptive internal model. IEEE Transactions on Automatic Control, 2001,vol. 46, no.8, pp. 1178–1194.doi: 10.1109/9.940923
8.     Bobtsov A. A note to output feedback adaptive control for uncertain system with static nonlinearity. Automatica, 2005, vol. 41, no. 12, pp. 2177–2180. doi: 10.1016/j.automatica.2005.08.006


Creative Commons License

This work is licensed under a Creative Commons Attribution-NonCommercial 4.0 International License
Copyright 2001-2024 ©
Scientific and Technical Journal
of Information Technologies, Mechanics and Optics.
All rights reserved.

Яндекс.Метрика