Open AccessAdaptive Control of Rigid Multi-Degree-of-Freedom Nonlinear Mechanical Plants
Author(s) -
Le Hong Quang,
V. V. Putov,
Viktor Sheludko
Publication year - 2021
Publication title -
journal of physics. conference series
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.21
H-Index - 85
eISSN - 1742-6596
pISSN - 1742-6588
DOI - 10.1088/1742-6596/1864/1/012084
Subject(s) - nonlinear system , backstepping , control theory (sociology) , parametric statistics , integrator , degree (music) , adaptive control , projection (relational algebra) , degrees of freedom (physics and chemistry) , computer science , mathematics , mechanical system , control engineering , control (management) , engineering , algorithm , artificial intelligence , physics , computer network , statistics , bandwidth (computing) , quantum mechanics , acoustics
The paper considers the problems of control synthesis of a rigid multi-degree-of-freedom (multi-DOF) nonlinear mechanical plant under conditions of parametric and functional uncertainty. Developed and investigated adaptive robust control systems are synthesized on the basis of three approaches: based on the method of computed torque, the method of majorizing functions, and also the method of integrator backstepping with modified adaptation algorithms with parametric projection. The results of a comparative study by modeling the designed adaptive systems for the nonlinear mathematical model of a four-degree manipulation arm described by the Lagrange equations are shown.