 | | Mechanics of Solids
A Journal of Russian Academy of Sciences | | Founded
in January 1966
Issued 6 times a year
Print ISSN 0025-6544
Online ISSN 1934-7936 |
Archive of Issues
| Total articles in the database: | | 11223 |
| In Russian (Èçâ. ÐÀÍ. ÌÒÒ): | | 8011
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| In English (Mech. Solids): | | 3212 |
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| A.S. Antipov, D.V. Krasnov, and A.V. Utkin, "Decomposition Synthesis of the Control System of Electromechanical Objects in Conditions of Incomplete Information," Mech. Solids. 54 (5), 669-682 (2019) |
| Year |
2019 |
Volume |
54 |
Number |
5 |
Pages |
669-682 |
| DOI |
10.3103/S0025654419050042 |
| Title |
Decomposition Synthesis of the Control System of Electromechanical Objects in Conditions of Incomplete Information |
| Author(s) |
A.S. Antipov (Trapeznikov Institute of Control Science, Russian Academy of Sciences, Moscow, 117997 Russia)
D.V. Krasnov (Trapeznikov Institute of Control Science, Russian Academy of Sciences, Moscow, 117997 Russia)
A.V. Utkin (Trapeznikov Institute of Control Science, Russian Academy of Sciences, Moscow, 117997 Russia, utkin-av@rambler.ru) |
| Abstract |
The problem of the synthesis of a tracking system for electromechanical control objects is
considered when measuring only the generalized coordinates of the mechanical subsystem. It is
assumed that external and parametric perturbations act on the system. Assuming the smoothness of
external perturbations and uncertainties, the mathematical model of the control object is presented in
the form of a joint block form of controllability and observability relative to the coordinate basis of
mixed variables (functions of state variables, external influences, and their derivatives). Based on these
conditions of the joint block form of parametric uncertainty of the matrix before the control actions,
a procedure for decomposition synthesis of the basic law of discontinuous control has been developed.
The basic control law ensures exponential convergence of the generalized coordinates to the reference
signals. To obtain estimates of the mixed variables used in the feedback, a method for synthesizing an
observer of a lower order state with large coefficients is proposed, in which the principle of complete
decomposition is implemented. The results of numerical modeling of the developed algorithms for a
three-link manipulator operating in a cylindrical workspace under incomplete information conditions
are presented. |
| Keywords |
tracking problem, generalized coordinates, external perturbations, decomposition synthesis, state observer |
| Received |
28 January 2019 | Revised |
04 April 2019 | Accepted |
15 May 2019 |
| Link to Fulltext |
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