DOI 10.17586/0021-3454-2017-60-6-495-503
UDC 681.5.015.24
ROBUST SUBOPTIMAL CONTROL OVER MULTICHANNEL OBJECTS UNDER SATURATION CONDITIONS
Institute for Problems in Mechanical Engineering of the Russian Academy of Sciences (IPME RAS), Saint Petersburg, 199178, Russian Federation; ITMO University, Saint Petersburg, 197101, Russian Federation; engineer
J. V. Chugina
ITMO University, Saint Petersburg, 197101, Russian Federation; postgraduat
I. B. Furtat
ITMO University, Saint Petersburg, 197101, Russian Federation; Institute of Problems of Mechanical Engineering of the Russian Academy of Sciences, Saint Petersburg, 199178, Russian Federation; Full Professor; Head of Department, Chief Researcher
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Abstract. A robust suboptimal stabilization algorithm for multiple-input-multiple-output (MIMO) systems with input signal restrictions of amplitude saturation type is considered. The proposed approach uses auxiliary loop method for disturbances compensation together with the optimal control provided by a linear quadratic regulator. The object under control is described by a linear interval model in which the effect of unmeasured bounded external disturbances is taken into account. Interval linearization allows to use the proposed approach in practical testing with Twin Rotor MIMO System laboratory setup. Comparison of obtained results with performance at conventional control approaches demonstrate the lack of overshoot and increase the accuracy of stabilization in the steady state with the proposed algorithm.
Keywords: multiple-input-multiple-output systems, stabilization, robust control, suboptimal control, parametric uncertainty, bounded perturbation
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