Development of an adaptive robust motion control algorithm for complex electromechanical moving objects based on invariant immersion method under conditions of uncertain input matrix and input constraints

The article considers the problem of developing an adaptive robust motion control algorithm for complex electromechanical moving objects (CEMMO), compensating for or minimizing the influence of input matrix uncertainty and input constraints. A nonlinear mathematical model of CEMMO is constructed in the form of Lagrange–Euler equations, accounting for input constraints. A novel adaptive robust control system for CEMMO is proposed, synthesized based on a combination of invariant immersion and function approximation techniques. Compensation for the influence of input constraints is achieved through an auxiliary dynamic system, the variables of which depend on the deviation between the actual control action and the control action at the controller output. The introduction of σ-modification into the proposed adaptive robust control law ensures boundedness of all closed-loop system signals. Using Lyapunov functions method, the robust stability of the developed adaptive robust system under simultaneous effects of input matrix uncertainty and input constraints is proven. The results of computer simulation in MatLab/Simulink environment confirm the superior effectiveness of the proposed algorithm compared to existing adaptive control algorithms.

Authors: D. Kh. Nguyen, V. V. Putov, V. N. Sheludko, N. A. Dobroskok

Direction: Electrical Engineering

Keywords: complex electromechanical moving objects (CEMMO), adaptive robust control algorithm, invariant immersion methods (I&I), function approximation methods, Lyapunov functions methods, input matrix uncertainty, input constraints, modeling

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