Adaptive Robust Control of a Multi-Degree-of-Freedom Indefinite Nonlinear Electromechanical Plant with Adaptive Compensation of Disturbances

摘要

This paper considers the issues of designing adaptive robust control systems based on the state of multi-degree-of-freedom (multi-DOF) nonlinear electromechanical plants with uncertain parameters and unknown disturbances, considered as the output of a linear autonomous finite-dimensional model with unknown constant parameters. Within the framework of the problem of adaptive compensation of disturbances, an observer of external disturbances is designed, which is efficient under the conditions of parametric uncertainty of a multi-DOF electromechanical plant. An adaptive robust control system with an adaptive disturbance observer is designed by the method of integrator backstepping, and robust algorithms for adjusting the parameters of adaptive control are designed by the parametric projection method. The results of modeling the designed adaptive robust control systems with simultaneous adaptive compensation of disturbances, performed with MATLAB/Simulink are shown.