Русская версия
ISSN 1817-2172, рег. Эл. № ФС77-39410, ВАК

Differential Equations and Control Processes
(Differencialnie Uravnenia i Protsesy Upravlenia)

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Synthesis of Controller for Vector Plant, Based on Integral Adaptation Method for Disturbance Suppression

Author(s):

Svetlana Ivanovna Kolesnikova

St.Petersburg State University of Aerospace Instrumentation
Professor of the Institute of Computing Systems and Programming
Doctor of Technical Sciences, Associate Professor
67, Bolshaya Morskaia str., Saint-Petersburg, 190000, RUSSIA

skolesnikova@yandex.ru

Abstract:

The problem of control over a nonlinear plant on the target manifold with two types of uncertainties in the description is discussed: deterministic disturbances in the right-hand side of the system of differential/difference equations as the unknown functions of time and stochastic disturbances with a zero mean and limited dispersion in the right-hand side of the system of difference equations. The method of integral adaptation is used, which relies on an analytical description of the target attractors – invariant manifolds and introduction of the integrators into the control channels, which make it possible to synthesize adaptive systems without acquiring the current data on the changes of the plant and environment parameters. A search for control in the case of stochastic disturbances is performed from among the strategies minimizing the dispersion of the output macrovariable. The examples and results of the numerical testing of the proposed algorithms are presented for an applied problem of control over the motion of an plant with an immobile center of mass. The presented results can be relevant in all control systems of robotic arms, functioning under the conditions of uncertainty, and in designing the decision-making support systems in controlling compound plants.

Keywords

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