NONLINEAR ROBUST CONTROL OF A MULTI-STAGE MECHANICAL PLANT WITH ADAPTIVE COMPENSATION FOR AN UNKNOWN DISTURBANCE

The article considers the problem of constructing a nonlinear robust control for a multi-stage nonlinear mechanical object with simultaneous adaptive compensation of an unknown disturbance. An unknown disturbance is assumed to be deterministic and is presented as the output of a linear autonomous model with unknown constant parameters. To solve the problem of adaptive compensation of an unknown disturbance, a nonlinear observer of an unknown disturbance is constructed, the structure of which is determined by the type of object. The structure of nonlinear robust control of a multi-stage mechanical object is synthesized on the basis of the integrator backtracking method and is combined with algorithms for adaptive compensation of disturbances built on the basis of a nonlinear observer of disturbances and adaptation algorithms with the so-called parametric projection. The study of the constructed nonlinear robust control with a nonlinear observer and algorithms for adaptive compensation of disturbances is carried out using the MatLab/Simulink program.

Authors: Le Hong Quang, V. V. Putov, V. N. Sheludko

Direction: Electrical Engineering

Keywords: Multi-stage plant with unknown disturbance, nonlinear robust control, nonlinear disturbance observer, cascade structure, integrator backtracking method, adaptive compensation of unknown disturbance, parametric projection algorithms

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