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Pole Placement Optimization for Disturbance Rejection in Discrete-Time systems 16

Pole Placement Optimization for Disturbance Rejection in Dis...

16th International Conference on Stability and Oscillations of Nonlinear control systems (Pyatnitskiy's Conference), STAB 2022

作者： Alexandrov, Vadim V.A. Trapeznikov Institute of Control Sciences of RAS Ya Z Tsypkin Laboratory of Adaptive and Robust Systems Moscow Russia

ISBN: (纸本)9781665465861

The control design problem for LTI SISO discrete time system is considered. The controller that minimizes the load sensitivity function H∞ norm, subject to such requirements for the system quality as the stability margin, the noise sensitivity function H∞ norm limiting, damping ratio and the maximum time constant of the system, is found using the optimization procedure, where the variables form the roots of the closed-loop system characteristic polynomial. © 2022 IEEE.

关键词： Disturbance rejection

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Comparison of Methods to Design Parametric Uncertainty Compensator for adaptive control System of Quadrotor Euler Angles

Comparison of Methods to Design Parametric Uncertainty Compe...

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2023 International Russian Automation Conference, RusAutoCon 2023

作者： Danila, Lavrinenko Anton, Glushchenko Konstantin, Lastochkin National Research University of Electronic Technology Miet Institute of Micro Devices and Control Systems Moscow Russia V.A. Trapeznikov Institute of Control Sciences of Ras Ya.Z. Tsypkin Laboratory of Adaptive and Robust Systems Moscow Russia

ISBN: (纸本)9798350345551

Using a mathematical model of a quadrotor, the Euler angle dynamics equations are analyzed to obtain a linear regression that describes the plant parametric uncertainty. Based on this representation, model reference adaptive control systems with both adjustable baseline controller and uncertainty compensator based on (i) a linear regression and (ii) a neural network are designed. Asymptotic stability of the augmented tracking error is proved for both systems. The results of numerical experiments demonstrate that the neural-network-based compensator, in contrast to the linear-regression-based one, copes with the matched uncertainty that is not included in the original description of the plant. © 2023 IEEE.

关键词： Model reference adaptive control

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Neural Network-based Direct Model Reference adaptive control of Quadrotor Attitude 16

Neural Network-based Direct Model Reference Adaptive Control...

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16th International Conference on Stability and Oscillations of Nonlinear control systems (Pyatnitskiy's Conference), STAB 2022

作者： Glushchenko, Anton Lastochkin, Konstantin V.A. Trapeznikov Institute of Control Sciences of RAS Ya Z. Tsypkin Laboratory of Adaptive and Robust Systems Moscow Russia

ISBN: (纸本)9781665465861

The scope of this research is to develop a model reference adaptive control system of a quadrotor attitude. Unlike many known papers, the plant parametric uncertainties are taken into consideration, and their explicit equation is obtained for the Euler angles control loops. It is a linear regression with nonlinear elements in both the regressor vector and time-varying parameters matrix. Having analyzed such an equation, a neural network is chosen to compensate for the uncertainty, and a mathematically sounded set of its inputs is defined. The adaptive laws to adjust the network parameters are derived, and the asymptotic convergence of the tracking error is shown. A Parrot Mambo quadrotor model is used as a testbed. The proposed system has reduced the sum of squared errors between the setpoint and Euler angles compared to k^{x}x+k^{r}r controller. © 2022 IEEE.

关键词： Attitude control

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Linear-Quadratic Regulator for Quadcopter Altitude with control Filtering 16

Linear-Quadratic Regulator for Quadcopter Altitude with Cont...

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16th International Conference on Stability and Oscillations of Nonlinear control systems (Pyatnitskiy's Conference), STAB 2022

作者： Alexandrov, Vadim Rezkov, Ilya V.A. Trapeznikov Institute of Control Sciences of RAS Ya Z. Tsypkin Laboratory of Adaptive and Robust Systems Moscow Russia

ISBN: (纸本)9781665465861

The problem of linear-quadratic regulator design, where a state feedback is supplemented by integral action, is considered. The regulator structure includes a derivative of control to reduce the impact of measurement noise. The application of such regulator for a quadcopter altitude control is investigated. The results of an experimental flight are presented, which confirm the effectiveness of the approach. © 2022 IEEE.

关键词： Altitude control

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Nonlinear control Law Design for Overhead Crane to Supress Load Oscillations 5

Nonlinear Control Law Design for Overhead Crane to Supress L...

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5th International Conference on control systems, Mathematical Modeling, Automation and Energy Efficiency, SUMMA 2023

作者： Petrov, Vladislav Glushchenko, Anton Vorobyev, Vladislav Lastochkin, Konstantin NUST MISIS Department of Automated and Information Control Systems N.a. Y.I. Eremenko Stary Oskol Russia Institute of Control Sciences of RAS N.a. V.A. Trapeznikov Adaptive and Robust Systems Laboratory N.a. Ya.Z. Tsypkin Moscow Russia

ISBN: (纸本)9798350309126

The problems of trolley position tracking and stabilization of the suspended load are solved simultaneously for an overhead crane. The model of the trolley-pendulum system is derived. To solve the problem under consideration, a nonlinear control law is designed using the second Lyapunov method, which guarantees asymptotic stability of the control error. The derived law is validated via numerical experiments. The obtained results corroborate the effectiveness of the proposed solution. © 2023 IEEE.

关键词： Lyapunov functions

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Comparison of Methods to Design Parametric Uncertainty Compensator for adaptive control System of Quadrotor Euler Angles

Comparison of Methods to Design Parametric Uncertainty Compe...

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International Russian Automation Conference (RusAutoCon)

作者： Lavrinenko Danila Glushchenko Anton Lastochkin Konstantin Institute of Micro Devices and Control Systems National Research University of Electronic Technology MIET Moscow Russia Ya.Z. Tsypkin Laboratory of Adaptive and Robust Systems V.A. Trapeznikov Institute of Control Sciences of RAS Moscow Russia

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Disturbance Estimation Based robust control of 2D Overhead Crane

Disturbance Estimation Based Robust Control of 2D Overhead C...

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International Conference on control systems, Mathematical Modelling, Automation and Energy Efficiency (SUMMA)

作者： Anton Glushchenko Konstantin Lastochkin Vladislav Petrov Robust and adaptive systems laboratory n.a. Ya.Z. Tsypkin V.A. Trapeznikov Institute of control sciences of RAS Moscow Russia Automated and information control systems department Stary Oskol technological institute n.a. A.A. Ugarov (branch) NUST “MISIS” Stary Oskol Russia

ISBN: (数字)9798331532178

ISBN: (纸本)9798331532185

We consider the problem of an underactuated 2D overhead crane control, which includes actuated trolley positioning and unactuated payload swing compensation, in the presence of uncertain disturbances. Firstly, two coordinate transformations are applied successively and some non-restrictive assumptions are adopted to represent the original system in the feedback linearizable form. Then robust controller for the trolley positioning and payload stabilization is designed on the basis of the filtering-based disturbance estimator. The tracking error exponential convergence to an adjustable compact set is proved through rigorous analysis. It is also shown that at the parametrization stage the system parametric uncertainty can be included into the disturbance description, therefore, unlike many known solutions without high gain and sliding mode control techniques, the proposed approach is applicable in case when not only the perturbation, but also the system parameters are unknown. All theoretical results are validated via numerical simulation.

关键词： robust control Cranes Uncertainty Perturbation methods Estimation Numerical simulation Mathematical models Sliding mode control Convergence Payloads

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Exponentially Stable adaptive Optimal control of Uncertain LTI systems

arXiv

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arXiv 2022年

作者： Glushchenko, Anton Lastochkin, Konstantin Ya.Z. Tsypkin Laboratory of Adaptive and Robust Systems V.A. Trapeznikov Institute of Control Sciences Russian Academy of Sciences Moscow Russia

A novel method of an adaptive linear quadratic (LQ) regulation of uncertain continuous linear time-invariant systems is proposed. Such an approach is based on the direct self-tuning regulators design framework and the exponentially stable adaptive control technique developed earlier by the authors. Unlike the known solutions, a procedure is proposed to obtain a non-overparametrized regression equation (RE) with respect to the unknown controller parameters from an initial RE of the LQ-based reference tracking control system. On the basis of such result, an adaptive law is proposed, which under mild regressor finite excitation condition provides monotonous convergence of the LQ-controller parameters to an adjustable set of their true values, which bound is defined only by the machine precision. Using the Lyapunov-based analysis, it is proved that the mentioned law guarantees the exponential stability of the closed-loop adaptive optimal control system. The simulation examples are provided to validate the theoretical contributions. Copyright © 2022, The Authors. All rights reserved.

关键词： Optimal control systems

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Unknown Piecewise Constant Parameters Identification with Exponential Rate of Convergence

arXiv

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arXiv 2022年

作者： Glushchenko, Anton Lastochkin, Konstantin Ya.Z. Tsypkin Laboratory of Adaptive and Robust Systems V.A. Trapeznikov Institute of Control Sciences Russian Academy of Sciences Moscow Russia

The scope of this research is the identification of unknown piecewise constant parameters of linear regression equation under the finite excitation condition. Compared to the known methods, to make the computational burden lower, only one model to identify all switching states of the regression is used in the developed procedure with the following two-fold contribution. First of all, we propose a new truly online estimation algorithm based on a well-known DREM approach to detect switching time and preserve time alertness with adjustable detection delay. Secondly, despite the fact that a switching signal function is unknown, the adaptive law is derived that provides global exponential convergence of the regression parameters to their true values in case the regressor is finitely exciting somewhere inside the time interval between two consecutive parameters switches. The robustness of the proposed identification procedure to the influence of external disturbances is analytically proved. Its effectiveness is demonstrated via numerical experiments, in which both abstract regressions and a second-order plant model are used. Copyright © 2022, The Authors. All rights reserved.

关键词： Switching

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Nonlinear control Law Design for Overhead Crane to Supress Load Oscillations

Nonlinear Control Law Design for Overhead Crane to Supress L...

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International Conference on control systems, Mathematical Modelling, Automation and Energy Efficiency (SUMMA)

作者： Vladislav Petrov Anton Glushchenko Vladislav Vorobyev Konstantin Lastochkin Department of Automated and Information Control Systems n.a. Y.I. Eremenko Stary Oskol Technological Institute n.a. A.A. Ugarov (branch) NUST "MISIS" Stary Oskol Russia Adaptive and Robust Systems Laboratory n.a. Ya.Z. Tsypkin Institute of Control Sciences of RAS n.a. V.A. Trapeznikov Moscow Russia

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