Block Design of Robust Control Systems by Direct Lyapunov Method

Pshikhopov, Viacheslav; Medvedev, Mikhail

doi:10.3182/20110828-6-it-1002.03392

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Cited by 4 publications

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“…Use of autonomous control systems can eliminate the human factor, increase performance, will allow making long non-stop flights, which is important for problems of patrols [1][2][3] and for the stratospheric transportation [4][5][6].…”

Section: Introductionmentioning

confidence: 99%

Indoor Autonomous Airship Control and Navigation System

Fedorenko

Krukhmalev

2016

MATEC Web of Conferences

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Section: Introductionmentioning

confidence: 99%

Indoor Autonomous Airship Control and Navigation System

Fedorenko

Krukhmalev

2016

MATEC Web of Conferences

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Autonomous Surface Vehicle Control System

Gurenko¹,

Fedorenko²,

Назаркин³

2014

AMM

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Base Algorithms of the Direct Adaptive Position-Path Control for Mobile Objects Positioning

Pshikhopov

Medvedev

Krukhmalev

et al. 2015

AMM

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Problem of a mobile object positioning in the presence of determinate disturbances is considered in this paper. A mobile object is described by kinematics and dynamics equations of a solid body in three dimensional space. The control inputs of the mobile object are forces and torques. Design of adaptive control is based on position-path control method for mobile objects. In this article two algorithms of the adaptive position-path control are developed. The first algorithm is adaptive position-path control with integration component and a reference model. The second algorithm is adaptive position-path control with a reference model and an extended mobile robot model. Block diagram of the direct adaptive position-path control system with a reference model is suggested. Design procedures of the adaptive position-path control systems and stability analysis of the closed-loop systems are presented. Computer simulation results of the designed adaptive closed-loop systems with both constant and variable disturbances are presented. On base of the analysis and modeling results conclusions are provided.

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Block Design of Robust Control Systems by Direct Lyapunov Method

Cited by 4 publications

References 8 publications

Indoor Autonomous Airship Control and Navigation System

Indoor Autonomous Airship Control and Navigation System

Autonomous Surface Vehicle Control System

Base Algorithms of the Direct Adaptive Position-Path Control for Mobile Objects Positioning

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