ISSN 0021-3454 (print version)
ISSN 2500-0381 (online version)
Menu

6
Issue
vol 62 / June, 2019
Article

DOI 10.17586/0021-3454-2017-60-6-495-503

UDC 681.5.015.24

ROBUST SUBOPTIMAL CONTROL OVER MULTICHANNEL OBJECTS UNDER SATURATION CONDITIONS

S. A. Vrazhevsky
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
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


Read the full article 

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

References:
  1. Furtat I.B.19th Intern. Conf. on Methods and Models in Automation and Robotics (MMAR), 2014, рp. 532–537.
  2. Tsykunov A.M. Automation and Remote Control, 2007, no. 7, рр. 103–115. (in Russ.)
  3. Tsykunov A.M. Automation and Remote Control, 2009, no. 2(70), рр. 271–282.
  4. Tao C.W. et al. IEEE Transact. on Fuzzy Systems, 2010, no. 5(18), рр. 893–905.
  5. Huang L. IEEE Intern. Conf. on Robotics and Automation (ICRA), 2011, рp. 4423–4428.
  6. Su J.P., Liang C.Y., Chen H.M. IEEE Intern. Conf. on Industrial Technology. ICIT'02, 2002, no. 2, рр. 1272–1277.
  7. Furtat I.B., Chugina J.V. IFAC Proc. Volumes (IFAC-PapersOnline), 2015, no. 11(48), рр. 527–533.
  8. Vrazevsky S.A. et al. 8th Intern. Congress on Ultra Modern Telecommunications and Control Systems and Workshops (ICUMT), 2016, рp. 23–28.
  9. Moore R.E.Interval analysis, Prince-Hall, 1966.
  10. Atassi A.N., Khalil H.K.IEEE Transact. on Automatic Control, 1999, no. 9(44), рр.1672–1687.
  11. Dudarenko N.A., Nuya O.S., Serzhantova M.V., Slita O.V., Ushakov A.V.Matematicheskie osnovy teorii sistem: Lektsionnyy kurs i praktikum (Mathematical Bases of the Theory of Systems: Lecture Course and Practical Work), St. Petersburg,2014.(in Russ.)
  12. Twin Rotor M. System Advanced Teaching Manual1 (33-007-4M5). Feedback Instruments Ltd, Crowborough, UK, 1998.