ISSN 0021-3454 (print version)
ISSN 2500-0381 (online version)
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6
Issue
vol 65 / June, 2022
Article

DOI 10.17586/0021-3454-2015-58-9-742-750

UDC 62.50

STATE ESTIMATION OF THE MULTIPENDULUM SETUP UNDER COMMUNICATION CONSTRAINTS

A. L. Fradkov
Institute of Problems in Mechanical Engineering, the Russian Academy of Sciences; Professor


B. R. Andrievsky
ITMO University, Saint Petersburg, 197101, Russian Fedefation Control;; Professor


A. B. Andrievsky
IPME RAS; Post-Graduate Student


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Abstract. Application of the coding-decoding procedure based on a plant dynamics model for implementation of embedded observer with low-bitrate data transmission channel is demonstrated for computer-controlled mechanical system — a multipendulum setup. Experimental results show efficiency of the proposed method in the case of corrupted measurements and plant model uncertainty.
Keywords: multipendulum setup, mathematical model, data transmission, communication channel, state estimation, experiment