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The issues related to the research and development of a new method for designing of hyperresistant robust adaptive multiple connected automatic control systems (ACS) of complex spatial movements of dynamic moving objects of robotic technological equipment for arc plasma spraying are considered in the paper. The proposed approach implies the integration of the robust control principles, implemented by the main control loop, and the principles of adaptive self-tuning using dynamic identifiers in non-linear models of control objects. Systems of equations describing the dynamics of the movement of complex multiple connected dynamic control objects are essentially nonlinear and nonstationary ones. Furthermore, all the studied robust adaptive multiple connected ACS has been shown to be able to significantly compensate for the interaction of both complex dynamic effects from the actuators of a multiple connected electric drive and the interaction of control channels, as well as the variability of the gravity of the load in these complex interrelated mechanisms. Moreover, recommendations for performing dynamic acceleration, dynamic deceleration and movement at a steady speed for all multiple connected electric drives of robotic technological equipment has been given. The results of numerical calculations have been provided, which indicate the effectiveness of the numerical algorithms for solving the problems based on the proposed method. It is concluded that the developed structures of robust adaptive multiple connected ACSs not only provide high-quality control, but also they are rather convenient in practical implementation. Finally, a comparative analysis of computational and experimental studies has been given. Keywords—adaptive control system, robotic technological equipment, nonlinear adaptive structure

The Synthesis of Nonlinear Hyperstable Adaptive Control Systems of Multiple Connected Electric Drives of Robotic Technological Equipment for arc Plasma Coating