The paper deals with the tracking output variables of non-linear system for given signals under unmatched external disturbances and functional uncertainties within the restrictions on state variables. A new approach based on the block control principle is designed. Sigma-functions are used to generate the local feedbacks. In contrast to the commonly used linear local feedbacks with high gains required for the suppression of disturbances, S-shaped sigmafunction is nonlinear, smooth and bounded everywhere, which allows us to take into account the restrictions on the phase variables at the synthesis stage. It is shown that properties similar to the properties of systems with discontinuous controls operating in the sliding modes are provided in the closed-loop system via smooth and bounded signals in the prelimit case. Also systems with uncertain input channels of controls are studied. Decomposing synthesis procedure of control actions as sigma-functions, based on the method of the hierarchy of controls, is developed. These procedures are used for the synthesis of electromechanical tracking systems under uncertainty taking into account the restrictions on the generalized moments. Simulations were performed for controlling the position of the endpoint of the manipulator with three degrees of freedom and electric actuators.
Block design of tracking system under unmatched disturbances via sigmoidal feedbacks
ICNPAA 2016 WORLD CONGRESS: 11th International Conference on Mathematical Problems in Engineering, Aerospace and Sciences ; 2016 ; La Rochelle, France
AIP Conference Proceedings ; 1798 , 1
27.01.2017
10 pages
Aufsatz (Konferenz)
Elektronische Ressource
Englisch
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