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vol 62 / November, 2019
Article

DOI 10.17586/0021-3454-2018-61-1-32-40

UDC 681.51

ROBUST OUTPUT CONTROL OF TWIN ROTOR NONLINEAR MULTICHANNEL OBJECT

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


A. A. Margun
ITMO University, Saint Petersburg, 197101, Russian Federation; postgraduate


D. N. Bazylev
ITMO University, Saint Petersburg, 197101, Russian Federation; postgraduate


K. A. Zimenko
ITMO University, Saint Petersburg, 197101, Russian Federation; postgraduate


A. S. Kremlev
ITMO University, Saint Petersburg, 197101, Russian Federation; Associate professor


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Abstract. The problem of robust control over multi-dimensional onlinear systems is addressed. The class of nonlinear control objects with parametric uncertainties is considered in the presence of external unknowns of bounded perturbations. An approach to the control problem based on the method of sequential compensator is proposed. Results of experimental study carried out with the use of the laboratory bench "Twin Rotor MIMO System" confirme the developed control algorithm efficiency. Based on the results of the experiment, it is shown that the method of a sequential compensator provides a higher quality of transient processes and accuracy in the steady-state regime in comparison with the control of the proportionalintegral-differential control.
Keywords: non-linear MIMO system, robust control, output control, consecutive compensator, PID-regulator

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