Two algorithms for designing control over center-of-mass motion of a moving object with incomplete description S. I. Kolesnikova, Y. I. Paraev, S. A. Tsvetnitskaya
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ArticleContent type: Текст Media type: электронный Subject(s): многомерные нелинейные объекты | внешнее возмущение | модальное управлениеGenre/Form: статьи в сборниках Online resources: Click here to access online
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2020 2nd International conference on control systems, mathematical modeling, automation and energy efficiency (SUMMA), Lipetsk State Technical University, Lipetsk, Russia, November, 10-13, 2020 : proceedings P. 716-721Abstract: Abstract—The methods of nonlinear adaptation based on an analytical design of aggregated regulators and modal control are discussed for solving the problem of nonlinear control over a robotic arm operating under the conditions of nonrandom noise. A comparative analysis of control is performed under different types of noise variables. It is shown that both control systems are adaptive and robust, while their transient process quality characteristics differ. The results of numerical modeling support the method of nonlinear adaptation as far as the value of overshoot is concerned in the case of nonrandom noise and evidence in favor of the method of modal control identifying the noise for off-design conditions (random high level noise).
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Abstract—The methods of nonlinear adaptation based on an analytical design of aggregated regulators and modal control are discussed for solving the problem of nonlinear control over a robotic arm operating under the conditions of nonrandom noise. A comparative analysis of control is performed under different types of noise variables. It is shown that both control systems are adaptive and robust, while their transient process quality characteristics differ. The results of numerical modeling support the method of nonlinear adaptation as far as the value of overshoot is concerned in the case of nonrandom noise and evidence in favor of the method of modal control identifying the noise for off-design conditions (random high level noise).
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