SIMPLIFIED NONLINEAR ADAPTIVE CONTROL SYSTEMS MULTISTAGE MECHANICAL OBJECTS BUILT ACCORDING TO THE METHOD OF CALCULATING THE MOMENTS

Discusses ways to simplify adaptive control systems multistage nonlinear mechanical objects constructed by calculating the moments, relying on a complete knowledge of the nonlinear mathematical descriptions of objects up to constant parameters. There are three basic ways to simplify adaptive systems obtained by excluding from the adaptive law and regularized algorithms adjust its settings of different groups of nonlinear components corresponding to the potential forces, moments of inertia, as well as the Coriolis and centrifugal forces.

Authors: V. V. Putov, A. V. Putov, K. V. Ignatiev, N. A. Rusyaev

Direction: Automation and Control

Keywords: Multistage nonlinear mechanical objects, adaptive control systems, built by the calculated moment, easing requirements for precise mathematical description, exclusion of non-linear components corresponding to the moments of inertia, potential, Coriolis and centrifugal forces

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