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vol 62 / November, 2019
Article

DOI 10.17586/0021-3454-2017-60-3-204-210

UDC 681. 51

NONLINEAR ALGORITHM FOR COMPENSATION OF BOUNDED DISTURBANCES

J. V. Chugina
ITMO University, Saint Petersburg, 197101, Russian Federation; postgraduat


I. B. Furtat
Institute of Problems of Mechanical Engineering, Russian Academy of Sciences, Saint Petersburg, 199178, Russian Federation; ITMO University, Saint Petersburg, 197101, Russian Federation; Leading scientific researcher$ Professor


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Abstract. The problem of control over a dynamic object under the influence of bounded disturbances is considered. An automatic control algorithm is developed; the algorithm is reported to provide a stable systems performance and desired level of output variables under the assumption that complete measurement of the state vectors is not available. The work is based on the known auxiliary loop method for compensation of the disturbances in linear systems or systems with Lipschitz nonlinearities. The special feature of the developed algorithm consists in introduction of an additional loop into the control system to allow evaluating the effect of unmeasured disturbances and parametric uncertainties in the functioning of the object under control. The robust method of auxiliary loop is proposed to augment with an adaptive control law of variable structure, which allows to provide a high accuracy of the system in the steady state compared to the original algorithm. Results of computer simulations illustrating the performance of the proposed control scheme are presented.
Keywords: робастное адаптивное управление, вспомогательный контур, следящая система, линейный объект управления, ограниченные возмущения, параметрическая неопределенность

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