# ADAPTIVE CONTROL OF AN ELASTICALLY RIGID MULTI-DEGREE NONLINEAR ELECTROMECHANICAL OBJECT

Deals with the construction and research of an adaptive control system for an elastically rigid multi-degree nonlinear elec-tromechanical object. The mathematical model of the object is represented by two related systems of Lagrangian equations, one of which describes the multimass elastic subobjects in the form of chain models of material bodies connected by weightless elastic bonds, and the other is the «rigid skeleton» of a multi-degree electromechanical object obtained by replacing undeformed elastic bonds by rigid bonds. An adaptive control system is constructed in the form of two subsystems that provide suppression of elastic deformations. Trajectory control of the «rigid skeleton» of a multi-stage electromechanical object under conditions of its functional-parametric uncertainty and incomplete measurements of the efficiency study of the constructed adaptive system using the example of a non-linear computer model of a three-stage robot manipulator of a typical design with two-mass elastic servo motors of the degrees of mobility are manipulated.

**Authors:** V. V. Putov, V. N. Sheludko, T. L. Rusyaeva, T. T. Nguyen

**Direction:** Automation and Control

**Keywords:** Elastic-rigid multi-degree non-linear electromechanical object, parametric and function-parametric uncertainty, adaptive control system, state observer, suppression of elastic deformations, executive electric drives of the mobility degrees of the object, control of the interconnected motion of a rigid object, computer research, three-stage ma-nipulation robot

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