Adaptive control of linear MIMO systems

Bobtsov, Alexey A.; Faronov, Maksim V.; Furtat, Igor B.; Pyrkin, Anton A.; Arustamov, Sergey

doi:10.1109/icumt.2014.7002166

Cited by 3 publications

(1 citation statement)

References 17 publications

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“…As a result, numerous publications devoted to solved problems in control theory were published. Thus, the problem of an adaptive control of MIMO (multi-input multi-output) systems under parametric uncertainty was considered, [4]. For solving this problem a control algorithm consecutive compensator for double channel plant was used.…”

Section: Achievementsmentioning

confidence: 99%

Involvement of students and postgraduates into megagrant laboratory under supervision of leading scientist Romeo Ortega at ITMO University

Kremlev

Bazylev

Zimenko

et al. 2016

SHS Web of Conferences

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Abstract. In 2010 the Government of the Russian Federation established particularly large grants aimed to attract world-renowned scientists, including compatriots living abroad, to Russian scientific and educational centres. These grants, known as Megagrants, ensure the creation of research teams that can compete with the leading world laboratories and achieve world-class scientific results. Involvement of young Russian scientists in the projects became one of the main Megagrant features: half of the participants are people under the age of 35 years. Founded as a part of this project in ITMO University the laboratory "Nonlinear Adaptive Control Systems" under Romeo Ortega's leadership is described in the paper. This laboratory was created at the Department of Control Systems and Informatics. The priority of the laboratory is the preparation and formation of a stable team able to conduct advanced research in the field of nonlinear, adaptive and robust control of various technical objects.

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Section: Achievementsmentioning

confidence: 99%

Involvement of students and postgraduates into megagrant laboratory under supervision of leading scientist Romeo Ortega at ITMO University

Kremlev

Bazylev

Zimenko

et al. 2016

SHS Web of Conferences

View full text Add to dashboard Cite

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Robust control algorithm for multivariable plants with quantized output

Anatolievich¹,

Borisivich²

2017

Naučno-teh. vestn. inf. tehnol. meh. opt.

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Consecutive Compensator in Station-Keeping of a Surface Vessel

Borisov

Dahl

Pyrkin

et al. 2020

Mehatronika, avtomatizaciâ, upravlenie

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This paper addresses the problem of station-keeping of a surface vessel by means of the consecutive compensator approach. The horizontal motion of the vessel is described by a dynamic model. The model is set up in vessel parallel coordinates, with three degrees of freedom: longitudinal, transverse and rotational motion. It is assumed that the vessel is fully actuated, i.e. there is a sufficient number and type of actuators and a thrust allocation system to ensure full manoeuvrability. Thus, the control can be designed with the assumption of three independent inputs and three output signals. The longitudinal motion can be considered separately, but a cross-coupling exists between the transverse and rotational kinetics. There is uncertainty both in parameters and signals, due to the vessel mass, inertia, and damping, as well as the unmeasured derivatives. The proposed control ensures station-keeping when the vessel is subjected to external disturbances. The consecutive compensator, which is based on high-gain feedback, provides robustness. Stability analysis is presented considering the cross-terms as limited disturbances. This allows proof of exponential stability. Experimental results are included from the Marine Cybernetics Laboratory (MC lab) at the Centre for Autonomous Marine Operations and Systems (A MOS) at the Norwegian University of Science and Technology (Norges teknisk-naturvitenskapelige universitet, NTNU ). Two scenarios are investigated: the scaled vessel is subjected to external disturbance, and the vessel executes the " four corner test". The experiments illustrate the applicability of the method.

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Adaptive control of linear MIMO systems

Cited by 3 publications

References 17 publications

Involvement of students and postgraduates into megagrant laboratory under supervision of leading scientist Romeo Ortega at ITMO University

Involvement of students and postgraduates into megagrant laboratory under supervision of leading scientist Romeo Ortega at ITMO University

Robust control algorithm for multivariable plants with quantized output

Consecutive Compensator in Station-Keeping of a Surface Vessel

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