DOI 10.17586/0021-3454-2021-64-9-728-740
UDC 681.5.015.8
NUMERICAL METHODS OF OPTIMIZATION FOR ROBUST CONTROL OF ROBOTIC AND MECHATRONIC SYSTEMS
Wroclaw University of Science and Technology, Department of Electrical Machines, Drives and Measurements;
S. Y. Lovlin
ITMO University, Saint Petersburg, 197101, Russian Federation; Associate Professor
M. . Tsvetkova
ITMO University; student
V. M. Musalimov
Institute for Problems in Mechanical Engineering of the Russian Academy of Sciences, Saint Petersburg, 199178, Russian Federation; Chief Researcher
M. V. Abramchuk
ITMO University, Department of Mechatronics; senior lecturer
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Abstract. A new numerical method is developed for optimization of robust control over robotic and mechatronic systems. The method is based on minimizing the maximum of control system frequency response to disturbance in coordinate under regulation. The system stability is ensured by a new method of limiting the search area for the regulator parameters, based on the stability margin radius. This optimization method consists of parametric and structural tuning of the control system. Correctness of the proposed method is confirmed by presented results of numerical experiments.
Keywords: robust control, mechatronic systems, numerical methods
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