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Synthesis of a Multifunctional Tracking System in Conditions of Uncertainty

  • Large Scale Systems Control
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Abstract

Class of affine nonlinear single-input single-output systems, where the relative degree of the equivalent form of the input-output is invariant to the presence of external, unmatched disturbances, is formalized. Methods of synthesis of a multifunctional tracking system in the conditions of parametric uncertainty of the control plant model and incomplete measurements are designed for this class of systems. The original method of synthesis of a low dimension observer for estimating mixed variables (these are combinations of state variables, external influences and their derivatives) by measuring only tracking error is designed for information support of discontinuous control. In this observer, using the linear corrective effects with saturation, the method of separating the movements of observation errors is realized. As an illustration of the developed method, an electromechanical control object is considered-an inverted pendulum controlled by a DC motor. The simulation results for the worst case of varying parameters are given.

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Acknowledgments

This work was supported in part by the Russian Foundation for Basic Research, project no. 15-08-01543A, and Presidential Grant MD-5336.2016.8.

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Authors and Affiliations

  1. Trapeznikov Institute of Control Sciences, Russian Academy of Sciences, Moscow, Russia

    D. V. Krasnov & A. V. Utkin

Authors
  1. D. V. Krasnov
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  2. A. V. Utkin
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Correspondence to D. V. Krasnov or A. V. Utkin.

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Russian Text © The Author(s), 2017, published in Upravlenie Bol’shimi Sistemami, 2017, No. 69, pp. 29–49.

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Krasnov, D.V., Utkin, A.V. Synthesis of a Multifunctional Tracking System in Conditions of Uncertainty. Autom Remote Control 80, 1704–1716 (2019). https://doi.org/10.1134/S000511791909011X

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  • DOI: https://doi.org/10.1134/S000511791909011X

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