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19th IFAC World Congress on International Federation of Automatic control, IFAC 2014

作者： Pyrkin, Anton A. Bobtsov, Alexey A. Aranovskiy, Stanislav V. Kolyubin, Sergey A. Gromov, Vladislav S. Department of Control Systems and Informatics ITMO University St.-Petersburg Russia Laboratory Control of Complex Systems Institute for Problems of Mechanical Engineering St.-Petersburg Russia Department of Engineering Cybernetics Norwegian University of Science and Technology TrondheimNO-7491 Norway

ISBN: (纸本)9783902823625

We present a new stabilization approach for unstable linear plants with long input delay, unknown parameters and disturbance. The predictor-based algorithm providing plant identification and stabilization is proposed. Also the extension is considered with estimation and cancellation of an unknown disturbance. A numerical examples are given to illustrate the efficiency of our adaptive controller. © IFAC.

关键词： Disturbance rejection

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Output control approach for delayed linear systems with adaptive rejection of multiharmonic disturbance 19

Output control approach for delayed linear systems with adap...

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19th IFAC World Congress on International Federation of Automatic control, IFAC 2014

作者： Pyrkin, Anton A. Bobtsov, Alexey A. Nikiforov, Vladimir O. Vedyakov, Alexey A. Kolyubin, Sergey A. Borisov, Oleg I. Department of Control Systems and Informatics ITMO University St.-Petersburg Russia Laboratory Control of Complex Systems Institute for Problems of Mechanical Engineering St.-Petersburg Russia Department of Engineering Cybernetics Norwegian University of Science and Technology TrondheimNO-7491 Norway

ISBN: (纸本)9783902823625

We present a new output control approach for a linear plant with input delay and an unknown multiharmonic disturbance acting on the input and the output. To solve this problem, we combine the well-known predictor feedback approach with the state observer and adaptive scheme that identifies the frequency of the disturbance. Compared to the existing approaches, the structure of our adaptive scheme is the simplest and the results apply to plants that are unstable, non-minimum phase, and have an arbitrary relative degree. © IFAC.

关键词： Adaptive control systems

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Real-time EMG signal frequency identification 19

Real-time EMG signal frequency identification

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19th IFAC World Congress on International Federation of Automatic control, IFAC 2014

作者： Zimenko, Konstantin A. Margun, Alexey A. Bobtsov, Alexey A. Bazylev, Dmitry N. Kremlev, Artem S. Department of Control Systems and Informatics ITMO University Kronverkski av. 49 Saint-Petersburg197101 Russia Laboratory Control of Complex Systems Institute for Problems of Mechanical Engineering Bolshoy pr. V.O. 61 St. Petersburg199178 Russia

ISBN: (纸本)9783902823625

The paper deals with a method for real-time frequency analysis of the electromyogram. The method has been proposed for usage in control systems of advanced robotics for different applications. The method includes robust real-time frequency estimation with preliminary usage of bandwidth filters. The method is easy to program and requires no additional resources. The paper presents an example of experimental approbation of proposed method. © IFAC.

关键词： Frequency estimation

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Adaptive control of linear MIMO systems

Adaptive control of linear MIMO systems

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International Conference on Ultra Modern Telecommunications and Workshops (ICUMT)

作者： Alexey A. Bobtsov Maxim V. Faronov Igor B. Furtat Anton A. Pyrkin Sergey A. Arustamov Department of Control Systems and Informatics ITMO University Saint Petersburg Russia Laboratory “Control of Complex Systems” Institute for Problems of Mechanical Engineering St. Petersburg Russia

ISBN: (纸本)9781479952922

The paper describes an adaptive control of MIMO (multi-input multi-output) systems under parametric uncertainty. A control algorithm consecutive compensator for double channel plant is analyzed. Applicability conditions of control law for foregoing plant are proposed. Efficiency of control scheme is illustrated by simulation results.

关键词： MIMO Adaptive control control systems Heuristic algorithms Algorithm design and analysis Telecommunications Conferences

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Output control Approach for Delayed Linear systems with Adaptive Rejection of Multiharmonic Disturbance

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IFAC Proceedings Volumes 2014年第3期47卷 12110-12115页

作者： Anton A. Pyrkin Alexey A. Bobtsov Vladimir O. Nikiforov Alexey A. Vedyakov Sergey A. Kolyubin Oleg I. Borisov Department of Control Systems and Informatics ITMO University St. Petersburg Russia Laboratory “Control of Complex Systems” Institute for Problems of Mechanical Engineering St. Petersburg Russia Department of Engineering Cybernetics Norwegian University of Science and Technology Trondheim NO-7491 Norway

关键词： input delay disturbance rejection adaptive control frequencies identification

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Stabilization of Nonlinear System with Input Delay and Biased Sinusoidal Disturbance

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IFAC Proceedings Volumes 2014年第3期47卷 12104-12109页

作者： Anton A. Pyrkin Alexey A. Bobtsov Sergey A. Kolyubin Alexey A. Vedyakov Oleg I. Borisov Vladislav S. Gromov Department of Control Systems and Informatics ITMO University St. Petersburg Russia Laboratory “Control of Complex Systems” Institute for Problems of Mechanical Engineering St. Petersburg Russia Department of Engineering Cybernetics Norwegian University of Science and Technology Trondheim NO-7491 Norway

We present a new stabilization approach for nonlinear plants with a long input delay. The stabilization problem is complicated by the influence of an uncertain biased sinusoidal disturbance. The problem of control design is solved with using measurable state variables. The adaptive scheme allows to identify the frequency and other parameters of the external disturbance that are used in a rejection loop. The main result provides delay compensation for a class of nonlinear systems and asymptotic stability for the closed-loop system..

关键词： asymptotic stability time-delay system disturbance rejection nonlinear systems

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Adaptive controller for Linear Plant with Parametric Uncertainties, Input Delay And Unknown Disturbance

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IFAC Proceedings Volumes 2014年第3期47卷 11294-11298页

作者： Anton A. Pyrkin Alexey A. Bobtsov Stanislav V. Aranovskiy Sergey A. Kolyubin Vladislav S. Gromov Department of Control Systems and Informatics ITMO University St. Petersburg Russia Laboratory “Control of Complex Systems” Institute for Problems of Mechanical Engineering St. Petersburg Russia Department of Engineering Cybernetics Norwegian University of Science and Technology Trondheim NO-7491 Norway

关键词： input delay parametric uncertainties disturbance rejection

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Real-Time EMG Signal Frequency Identification

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IFAC Proceedings Volumes 2014年第3期47卷 2951-2956页

作者： Konstantin A. Zimenko Alexey A. Margun Alexey A. Bobtsov Dmitry N. Bazylev Artem S. Kremlev Department of Control Systems and Informatics ITMO University Kronverkski av. 49 197101 Saint-Petersburg Russia Laboratory ”Control of Complex Systems” Institute for Problems of Mechanical Engineering Bolshoy pr. V.O. 61 St.Petersburg 199178 Russia

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Output controller for quadcopters based on mathematical model decomposition

Output controller for quadcopters based on mathematical mode...

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Mediterranean Conference on control and Automation (MED)

作者： Anton A. Pyrkin Alexey A. Bobtsov Sergey A. Kolyubin Oleg I. Borisov Vladislav S. Gromov Department of Control Systems and Informatics ITMO University Saint Petersburg Russia Laboratory “Control of Complex Systems” Institute for Problems of Mechanical Engineering St.Petersburg Russia Department of Engineering Cybernetics Norwegian University of Science and Technology Trondheim Norway

ISBN: (纸本)9781479959020

In the paper an output control approach for a class of nonlinear MIMO systems is presented. A multicopter with four symmetrical rotors, i.e. a quadcopter, is chosen to illustrate effectiveness of the proposed adaptive control approach based on the high-gain principle so-called “consecutive compensator”. Output controller is designed by decomposition of the mathematical model on two parts. The first one is a static MIMO transformation (more precisely, in the considering case a system of linear equations which relates lift forces generated by the actuators and virtual control inputs). The second one is a few SISO channels. Such trick allows to design a control law in two steps. At the first step we design virtual controls for each SISO channel. Here we apply the mentioned systematic approach “consecutive compensator”. And then after the inverse MIMO transformation we get a set of real lift forces.

关键词： Mathematical model MIMO Equations Adaptive control Nonlinear systems Transient analysis Rotors

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Output adaptive controller for linear system with input delay and multisinusoidal disturbance

Output adaptive controller for linear system with input dela...

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IEEE Conference on control Technology and Applications (CCTA)

作者： Anton A. Pyrkin Alexey A. Bobtsov Vladimir O. Nikiforov Stanislav V. Aranovskiy Sergey A. Kolyubin Alexey A. Vedyakov Oleg I. Borisov Vladislav S. Gromov Department of Control Systems and Informatics ITMO University Saint Petersburg Russia Laboratory “Control of Complex Systems” Institute for Problems of Mechanical Engineering St. Petersburg Russia Department of Engineering Cybernetics Norwegian University of Science and Technology Trondheim Norway

ISBN: (纸本)9781479974108

We present a new stabilization approach for a linear plant with the input delay and an unknown multisinusoidal disturbance affected the input and the output. To solve this problem, we combine the well-known predictor feedback approach with the state observer and adaptive scheme that identifies the frequency of the disturbance. Compared to the existing approaches, our adaptive scheme is applicable to plants that are unstable, non-minimum phase, and have an arbitrary relative degree.

关键词： Observers Delays Estimation error Frequency estimation control systems Vectors Polynomials

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