ADAPTIVE ROBUST CONTROL OF A MULTI-STAGE NONLINEAR MECHANICAL OBJECT WITH PARAMETRIC AND FUNCTIONAL UNCERTAINTY (EXACT AND APPROXIMATE APPROACHES)

Deals with the problems of synthesis and comparative research of adaptive robust control systems for multi-stage nonlinear mechanical objects (for example, multi-link manipulation robots) under conditions of uncertainty in their mathematical models. Namely, robust adaptive control systems for a class of multi-stage mechanical (Lagrangian) objects are constructed and studied, synthesized by two analytical methods: the exact method of adaptive traversal of the integrator with tuning functions, based on the parametric uncertainty of the mathematical model of a nonlinear plant, and the approximate method of majorizing functions, which allows parametric and functional uncertainty of the object model. At the same time, the standard step-by-step procedure for applying the adaptive bypass method of the integrator with tuning functions to the Lagrangian object required some modification proposed in the article. As an example of a multi-stage mechanical object, an industrial four-link manipulation robot is considered, a complete calculation of the functional matrices of its mathematical model is carried out, and an affine parameterization of the equations is carried out with the determination of a 4x28-dimensional matrix of unknown mass-inertial parameters of the object model and a 28 x 1-dimensional vector function of the regressor. Some results of computer studies of the operability of the constructed adaptive robust systems and a comparative analysis of their effectiveness, illustrated by graphs of transient processes and complex trajectories, are presented.

Authors: Le Hong Quang, Nguyen Thanh Tien, Doan Van Minh, V. V. Putov, V. N. Sheludko, A. A. Kuznetsov, M. A. Chernishov

Direction: Informatics, Computer Technologies And Control

Keywords: Multi-stage nonlinear mechanical object, adaptive robust control system, cascade structure, parametric and functional uncertainty, adaptive integrator bypass method with customization functions, method of majorizing functions

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