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Nonlinear Suboptimal Robust control for Twin Rotor MIMO System 6

Nonlinear Suboptimal Robust Control for Twin Rotor MIMO Syst...

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6th Scientific School "Dynamics of Complex Networks and their Applications", DCNA 2022

作者： Vrazhevsky, Sergey Kopysova, Eseniya Kuznetsov, Mikhail Itmo University Laboratory of Adaptive and Intelligent Control of Networked and Distributed Systems Ipme Ras Department of Control Systems and Informatics Saint Petersburg Russia Itmo University Department of Control Systems and Informatics Saint Petersburg Russia

ISBN: (数字)9781665461740

ISBN: (纸本)9781665461740

The article deals with a problem of suboptimal stabilization for a nonlinear plant under disturbances presence with application to a laboratory setup 'Twin Rotor MIMO System' (TRMS). First, a complete nonlinear model of TRMS is considered and linearized using feedback linearization technique. Then, a Linear Quadratic Regulator is applied to obtain a stable closed-loop system with prespecified cost function minimization for the case when no disturbances affect the system. At the last step of algorithm synthesis, unknown bounded disturbances are taken into account, and a specialized dynamical system called 'auxiliary loop' is defined to compensate disturbances and ensure convergence of the closed-loop system solutions to the optimal case. © 2022 IEEE.

关键词： Robust control

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Quadrotor control under Prespecified State-Space Bounds 6

Quadrotor Control under Prespecified State-Space Bounds

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6th Scientific School "Dynamics of Complex Networks and their Applications", DCNA 2022

作者： Kuznetsov, Mikhail Vrazhevsky, Sergey Kopysova, Eseniya Itmo University Department of Control Systems and Informatics Saint-Petersurg Russia Itmo University Laboratory of Adaptive and Intelligent Control of Networked and Distributed Systems Ipme Ras Department of Control Systems and Informatics Saint-Petersurg Russia

ISBN: (数字)9781665461740

ISBN: (纸本)9781665461740

The article suggests a robust control algorithm for a quadrotor tracking control problem considering a linearised quadrotor model. The main achievement obtained is a controller with a guarantee of finding output signals within the boundaries given by differentiable functions. The proposed method is used for a quadcopter model separately for each degree of freedom. The results are verified using computer simulation. © 2022 IEEE.

关键词： Robust control

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Quadrotor control with a Guaranteed Presence of Output Signals under a Prespecified State Bounds

Quadrotor Control with a Guaranteed Presence of Output Signa...

引用

Mediterranean Conference on control and Automation (MED)

作者： Mikhail Kuznetsov Sergey Vrazhevsky Ekaterina Khalyamina Faculty of Control Systems and Robotics ITMO University Saint Petersburg Russia Laboratory of Adaptive and Iintelligent Control of Networked and Distributed Systems IPME RAS Saint Petersburg Russia

ISBN: (数字)9781665406734

ISBN: (纸本)9781665406741

The article proposes a new robust tracking control method for UAV systems in roll and pitch angular planes. The main achievement of the obtained controller is a guarantee that the output signal is confined in a sufficiently small prespecified bounded set formed by arbitrary continuously differentiable functions. The method is applied to a multiple-input multiple-output quadrotor model under external bounded disturbances and parametrical uncertainties influence. Results and achieved performance are verified via representative computer simulation results.

关键词： Uncertainty Computer simulation Heuristic algorithms Computational modeling Observers Stability analysis MIMO

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Finite Time Convergence Parameter Estimator for Nonlinear MIMO System*

Finite Time Convergence Parameter Estimator for Nonlinear MI...

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Mediterranean Conference on control and Automation (MED)

作者： Dmitry Bazylev Sergey Vrazhevsky Faculty of Control Systems and Robotics ITMO University Saint Petersburg Russia Laboratory of Adaptive and Iintelligent Control of Networked and Distributed systems IPME RAS Saint Petersburg Russia

ISBN: (数字)9781665406734

ISBN: (纸本)9781665406741

In this paper, we present a finite time convergence (FTC) parameter estimator for a class of non-linear MIMO systems. The designed FTC estimator is based on a continuous-time parameter identification algorithm that was recently proposed by the authors. Compared to the previous solution the new modified estimator doesn’t require the unobvious to achieve in practice assumptions imposed on regression functions to ensure guaranteed convergence. As a practical example, we use a “Twin Rotor MIMO System” laboratory bench which model is given by a nonlinear multi-channel system with cross-couplings. Significant improvement of the transient behavior for the new parameter estimator is demonstrated via representative simulation results.

关键词： Parameter estimation Heuristic algorithms Simulation Friction Rotors Transforms Mathematical models

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