priborИзвестия высших учебных заведений. ПриборостроениеJournal of Instrument Engineering0021-34542500-0381Национальный исследовательский университет ИТМО10.17586/0021-3454-2025-68-6-482-493pribor-379Research ArticleСИСТЕМНЫЙ АНАЛИЗ, УПРАВЛЕНИЕ И ОБРАБОТКА ИНФОРМАЦИИSYSTEM ANALYSIS, MANAGEMENT AND INFORMATION PROCESSINGНастройка параметров адаптивного регулятора при управлении в скользящем режиме с суперскручиванием для класса неопределенных нелинейных систем на основе алгоритма ДжаяAdjusting the Parameters of the Adaptive Regulator in Super Twisting Sliding Mode Control for a Class of Uncertain Nonlinear Systems Based on Jaya AlgorithmХоангД. Л.HoangD. L.

Дык Лонг Хоанг — аспирант; факультет систем управления и робототехники,

Санкт-Петербург.

Duc L. Hoang — Post-Graduate Student; Faculty of Control Systems and Robotics,

St. Petersburg.

longitmo@gmail.comДударенкоН. А.DudarenkoN. A.

Наталия Александровна Дударенко — канд. техн. наук, доцент; факультет систем управления и робототехники; 

Санкт-Петербург.

Natalia A. Dudarenko — PhD, Associate Professor; Faculty of Control Systems and Robotics,

St. Petersburg.

dudarenko@itmo.ruУниверситет ИТМОITMO University202517072025686482493Copyright © Национальный исследовательский университет ИТМО, 20252025Национальный исследовательский университет ИТМОНациональный исследовательский университет ИТМОhttps://pribor.ifmo.ru/jour/about/submissions#copyrightNoticehttps://pribor.ifmo.ru/jour/article/view/379

Представлен подход к настройке параметров адаптивного управления на скользящем режиме с суперскручиванием, применяемый для нелинейных систем с параметрической неопределенностью. Подход разработан на основе алгоритма Джая, обеспечивающего эффективность работы и устойчивость системы управления в изменяющихся условиях. Учет сложности модельного описания и наличия неопределенности, а также точная настройка параметров регулятора на скользящем режиме с суперскручиванием имеют существенное значение для обеспечения оптимальной производительности системы. С помощью алгоритма Джая, обеспечивающего достижение оптимального режима функционирования, исследовано влияние различных параметров системы на ее поведение и устойчивость. Результаты численного моделирования показывают, что адаптивное управление нелинейной системой на скользящем режиме с суперскручиванием, оптимизированное с помощью алгоритма Джая, обеспечивает более высокую производительность системы и устойчивость к помехам, по сравнению с традиционными подходами. Эффективность предложенного подхода подтверждается на примере модели перевернутого маятника на тележке.

An approach to adjusting the parameters of adaptive control in a sliding mode with super-twisting, used for nonlinear systems with parametric uncertainty, is presented. The approach is based on Jaya algorithm, which ensures the efficiency and stability of the control system in changing conditions. Taking into account the complexity of the model description and the presence of uncertainty, as well as fine-tuning the parameters of the regulator in sliding mode with supercooling are essential to ensure optimal system performance. The influence of various system parameters on its behavior and stability is studied using the Jaya algorithm, which ensures the achievement of an optimal mode of operation. The results of numerical simulation show that adaptive control of a nonlinear system in a sliding mode with super-twisting, optimized using the Jaya algorithm, provides higher system performance and resistance to interference, compared with traditional approaches. The effectiveness of the proposed approach is confirmed by the example of an inverted pendulum model on a trolley.

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The authors declare that there are no conflicts of interest present.