Operation algorithm of reference model-based adaptive system ensuring given dynamic precision of control of nonstationary dynamic object under uncertainty

Zemlyakov, S. D.; Rutkovskii, V. Yu.

doi:10.1134/s000511790910004x

Cited by 4 publications

(5 citation statements)

References 3 publications

Supporting

Mentioning

Contrasting

Unclassified

Order By: Relevance

“…Disturbance suppression is provided by the matrix B , because matrices 1 , T Q define desired coordinates and may be changed only by the top level of control. We denote that the reference model (23) has no feedback, hence the denominator of the transfer function (25) has the third order.…”

Section: The Simulation Resultsmentioning

confidence: 99%

“…The analysis showed that the synthesized of closed-loop system is asymptotically stable in the Lyapunov terms. That allows, in difference to [8,12,23] separate tuning reference model loop, adaptation loop and basic control loop of vehicle. Well-known algorithms [15 -22] can be used for tuning of parameters of adaption loop.…”

Section: Discussionmentioning

confidence: 99%

“…This approach has proven its effectiveness and feasibility and continues to develop [20,21]. As far as specific tasks of control of vehicles (docking, motion with obstacles) requires high quality control in the dynamics, this paper is based on the ideas of systems with reference model [22][23][24][25], which allow to adapt in transient modes.…”

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

Adaptive Control of Vehicleposition with Non-linearizable Feedback

Pshikhopov¹,

Medvedev²,

Krukhmalev³

2015

Advances in Intelligent Systems Research

View full text Add to dashboard Cite

The problem of vehicle control is considered in the paper. The model of vehicle is represented by the equations of kinematics and dynamics of a rigid body. The features of control that could appear for complicated maneuvers are investigated. In such motion the determinant of the matrix of kinematics may be equal to zero. This fact does not allow to set the desired dynamics of the closed-loop system in the form of linear equations. In other words the system cannot be linearized by feedback. The problem is solved by applying adaptive control systems with a reference model. A procedure for the synthesis of the basic position-trajectory control is proposed. Asymptotic stability analysis on base of the method of Lyapunov functions is considered. Adaptation of control is carried out by proportional and integral algorithms. The block-diagram of the closed-loop system is presented. The stability of the adaptive control system is proved. It is shown that in the linear approximation, the characteristic equation of the closed-loop system is a product of the characteristic equation of the reference models, the vehicle, and the adaptation subsystem. Modeling results are presented.

show abstract

Section: The Simulation Resultsmentioning

confidence: 99%

Section: Discussionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Adaptive Control of Vehicleposition with Non-linearizable Feedback

Pshikhopov¹,

Medvedev²,

Krukhmalev³

2015

Advances in Intelligent Systems Research

View full text Add to dashboard Cite

show abstract

“…І -І а ( о й й о 0 Подобным образом можно получить выражения для определения коэффициентов правой части (14) или числителя (13).…”

Section: + 6^+ 6о) W(s) = -B^r = -^-unclassified

“…В многообразии подобных систем выделяют два больших классасамоорганизующиеся и самонастраивающиеся адаптивные системы [13,14]. Первый класс предполагает синтез электропривода с корректирующим устройством свободной структуры, что позволяет получить требуемое качество функционирования не только при параметрической, но и при структурной неопределенности объекта управления.…”

Section: Introductionunclassified

Synthesis of a parametrically invariant servo drive using the model parameters recovery method

Malev

2023

«Izvestiya vysshikh uchebnykh zavedenii. PROBLEMY ENERGETIKI»

View full text Add to dashboard Cite

RELEVANCE. Servo drives operate with a law of change of the setting action unknown in advance and provide reproduction of this law by the output coordinate. Servo drives find application in robotic and mechatronic systems, machine tools, systems of automatic control and remote transmission of information, radar stations, guidance units, etc. The operation of servodrives often proceeds in conditions of instability parameters and characteristics elements of the electric drive. Corrective devices synthesized by classical methods of automatic control theory cannot cope with providing the specified accuracy of reproduction of the input signal and the required quality of transients. THE PURPOSE. In this regard, an important and urgent task is the synthesis of an active correction system with a non-stationary controller that provides the required quality and accuracy of the control process due to the coefficient self-tuning algorithm. METHODS. When solving this problem, methods for identifying parameters based on the gradient algorithm and numerical integration of the object of study dynamics equations, implemented by means of the MatLab software environment, were used. RESULTS. The paper solves the problem of synthesizing the self-tuning algorithm for the coefficients of the servo drive corrective device based on the identification approach. The parameters are identified by a searchless gradient algorithm while minimizing the discrepancy between the object of study and its inverse model, as well as restoring the coefficients of differential equations using integration and the corresponding computational procedures. An servo drive with negative position feedback is tuned to the modular optimum with a proportional controller whose coefficients are completely determined by the parameters to be identified. The self-tuning algorithm consists in calculating the correction factor of the non-stationary P-controller and forming a multiplicative channel of the active correction closed loop. CONCLUSION. The simulation of the electric drive in the MatLab software environment showed high accuracy and quickness of the process identifying parameters in a wide range of their change. When forming an active correction contour, a necessary requirement is to distinguish between the identification cycle and the self-tuning cycle. This makes it possible to avoid singular perturbations and reduce resonant facts during the operation of a parametrically invariant electric drive. The developed method of active correction with a priori known and unchanged structure of the object model of study makes it possible to maintain the required accuracy and quality of the operation of the electric drive under conditions of parametric disturbances with permissible deviations of accuracy and quality indicators. Implementation of the method does not require additional equipment, organization of special test signals, significant computational costs. The method of synthesizing a parametrically invariant electric drive can be used to develop robust control systems for non-stationary objects, including when the hypothesis of quasi-stationarity is not fulfilled.

show abstract

The Research of Auto-adaptive Production Strategy Based on Supply Chain Coordination

Yuxin

Zhang

2010

2010 3rd International Conference on Information Management, Innovation Management and Industrial Engineering

View full text Add to dashboard Cite

Operation algorithm of reference model-based adaptive system ensuring given dynamic precision of control of nonstationary dynamic object under uncertainty

Cited by 4 publications

References 3 publications

Adaptive Control of Vehicleposition with Non-linearizable Feedback

Adaptive Control of Vehicleposition with Non-linearizable Feedback

Synthesis of a parametrically invariant servo drive using the model parameters recovery method

The Research of Auto-adaptive Production Strategy Based on Supply Chain Coordination

Contact Info

Product

Resources

About