Robust control system with high potential
The paper introduces the approach to control of a priori uncertain dynamic objects based on Lyapunov function method, in particular "the method of quadratic forms". Possibility of infinite raising the gain coefficient of PD-controller of n-1 order allows suppressing general components of u...
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| Format: | Article |
| Language: | Russian |
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Tomsk Polytechnic University
2019-05-01
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| Series: | Известия Томского политехнического университета: Инжиниринг георесурсов |
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| Online Access: | http://izvestiya.tpu.ru/archive/article/view/1362 |
| _version_ | 1797813234388959232 |
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| author | Gazanfar Rustamov |
| author_facet | Gazanfar Rustamov |
| author_sort | Gazanfar Rustamov |
| collection | DOAJ |
| description | The paper introduces the approach to control of a priori uncertain dynamic objects based on Lyapunov function method, in particular "the method of quadratic forms". Possibility of infinite raising the gain coefficient of PD-controller of n-1 order allows suppressing general components of uncertain model to an arbitrarily small value. This ensures high accuracy of tracking of the reference trajectory for a wide class of uncertainties. The system is described by a homogeneous linear equation of the hyper-plane in the limit. This feature allows defining the controller settings parameters based on quality indicators using the "modal control" method. The proposed technique allows avoiding the complex mathematical difficulties occurring in the synthesis of robust control systems and controlling nonlinear non-stationary objects under substantial uncertainty by a simple physically intuitive controller. The disadvantages of the proposed technique are the increased frequency interference with direct access to the controller, the usage of the output derivatives for forming PD-controller as well. Solving model problems on Matlab/Simulink allowed the author to make a number of positive findings of the important practical value. |
| first_indexed | 2024-03-13T07:49:14Z |
| format | Article |
| id | doaj.art-a412e8c2fbd04a95a265f594fae6854f |
| institution | Directory Open Access Journal |
| issn | 2500-1019 2413-1830 |
| language | Russian |
| last_indexed | 2024-03-13T07:49:14Z |
| publishDate | 2019-05-01 |
| publisher | Tomsk Polytechnic University |
| record_format | Article |
| series | Известия Томского политехнического университета: Инжиниринг георесурсов |
| spelling | doaj.art-a412e8c2fbd04a95a265f594fae6854f2023-06-02T21:08:28ZrusTomsk Polytechnic UniversityИзвестия Томского политехнического университета: Инжиниринг георесурсов2500-10192413-18302019-05-013245Robust control system with high potentialGazanfar RustamovThe paper introduces the approach to control of a priori uncertain dynamic objects based on Lyapunov function method, in particular "the method of quadratic forms". Possibility of infinite raising the gain coefficient of PD-controller of n-1 order allows suppressing general components of uncertain model to an arbitrarily small value. This ensures high accuracy of tracking of the reference trajectory for a wide class of uncertainties. The system is described by a homogeneous linear equation of the hyper-plane in the limit. This feature allows defining the controller settings parameters based on quality indicators using the "modal control" method. The proposed technique allows avoiding the complex mathematical difficulties occurring in the synthesis of robust control systems and controlling nonlinear non-stationary objects under substantial uncertainty by a simple physically intuitive controller. The disadvantages of the proposed technique are the increased frequency interference with direct access to the controller, the usage of the output derivatives for forming PD-controller as well. Solving model problems on Matlab/Simulink allowed the author to make a number of positive findings of the important practical value.http://izvestiya.tpu.ru/archive/article/view/1362uncertaintyrobust tracking systemLyapunov functionpartitura modelhigh gain coefficientparametric pendulum |
| spellingShingle | Gazanfar Rustamov Robust control system with high potential Известия Томского политехнического университета: Инжиниринг георесурсов uncertainty robust tracking system Lyapunov function partitura model high gain coefficient parametric pendulum |
| title | Robust control system with high potential |
| title_full | Robust control system with high potential |
| title_fullStr | Robust control system with high potential |
| title_full_unstemmed | Robust control system with high potential |
| title_short | Robust control system with high potential |
| title_sort | robust control system with high potential |
| topic | uncertainty robust tracking system Lyapunov function partitura model high gain coefficient parametric pendulum |
| url | http://izvestiya.tpu.ru/archive/article/view/1362 |
| work_keys_str_mv | AT gazanfarrustamov robustcontrolsystemwithhighpotential |