On the example of a control system for an unmanned aerial vehicle, we consider the problems of filtering, smoothing and restoring derivatives of reference action signals. These signals determine the desired spatial path of the plant at the first approximation. As a rule, researchers have considered these problems separately and have used different methods to solve each of them. The paper aims to develop a unified approach that provides a comprehensive solution to mentioned problems. We propose a dynamic admissible path generator. It is constructed as a copy of the canonical control plant model with smooth and bounded sigmoid corrective actions. For the deterministic case, a synthesis procedure has been developed, which ensures that the output variables of the generator track a non-smooth reference signal. Moreover, it considers the constraints on the velocity and acceleration of the plant. As a result, the generator variables produce a naturally smoothed spatial curve and its derivatives, which are realizable reference actions for the plant. The construction of the generator does not require exact knowledge of the plant parameters. Its dynamic order is less than that of the standard differentiators. We confirm the effectiveness of the approach by the results of numerical simulation.
In this paper, we propose a direct method for the synthesis of robust systems operating under parametric uncertainty of the control plant model. The developed robust control procedures are based on the assumption that the structural properties of the nominal system are conservated over the entire range of parameter changes. The invariant-to-parametric-uncertainties transformation of the initial model to a regular form makes it possible to use the concept of super-stable systems for the synthesis of a stabilizing feedback. It is essential that the synthesis of super-stable systems is carried out not on the basis of assigning eigenvalues to the matrix of the close-loop system, but in terms of its elements. The proposed approach is applicable to a wide class of linear systems with parametric uncertainties and provides a given degree of stability.
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