doi: 10.17586/2226-1494-2018-18-3-392-398


K. A. Zimenko, A. S. Kremlev, A. E. Polyakov, D. V. Efimov

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For citation: Zimenko K.A., Kremlev A.S., Polyakov A.E., Efimov D.V. Robust stabilization of twin-rotor MIMO plant. Scientific and Technical Journal of Information Technologies, Mechanics and Optics, 2018, vol. 18, no. 3, pp. 392–398 (in Russian). doi: 10.17586/2226-1494-2018-18-3-392-39

 The problem of MIMO system robust stabilization is considered for the twin rotor MIMO system mechanical plant, where nonlinear dynamics and parametric uncertainties were considered as disturbances. The proposed control law consists of two components: the linear component homogenizes a closed-loop system with a chosen degree of homogeneity; the homogeneous component stabilizes the system asymptotically or in finite time depending on the degree of homogeneity. Due to homogeneity properties of the closed-loop system in the absence of disturbances, the synthesized control law ensures input-to-state stability of the closed-loop system. In comparison with other works, presented approach of control synthesis for twin rotor plant does not require the decomposition of the system and/or consideration of the cross-link effects as disturbances. To confirm the effectiveness of the presented results, an experimental approbation was carried out on the mechatronic plant.

Keywords: mechatronic plant, robust control, MIMO systems, homogeneous systems

Acknowledgements. This work is supported by the Russian Science Foundation under grant No.17-19-01422 in ITMO University.



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