{"title":"带扰动补偿的改进反演非线性系统输出控制","authors":"S. Vrazhevsky","doi":"10.15622/sp.58.8","DOIUrl":null,"url":null,"abstract":"The article deals with a tracking control system synthesis for a nonlinear plant functioning under bounded external disturbances which are not available for measurement. A proposed solution is a robust modification of the backstepping approach with the similar controller design structure. The main changes are based on plant model transformations that make it possible to use the only one filer in control system and, along with it, an auxiliary loop method usage to disturbances evaluation and compensation. High-gain observers are used for unknown signals measuring together with their derivatives. Tracking errors and observation errors convergence with the adjustable accuracy during the finite transient time is proved. Efficiency of the algorithm is demonstrated using computer modeling in comparison with an analogue.","PeriodicalId":53447,"journal":{"name":"SPIIRAS Proceedings","volume":"46 1","pages":""},"PeriodicalIF":0.0000,"publicationDate":"2018-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"3","resultStr":"{\"title\":\"Output Control of Nonlinear Systems Using Modified Backstepping Algorithm with Disturbances Compensation\",\"authors\":\"S. Vrazhevsky\",\"doi\":\"10.15622/sp.58.8\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"The article deals with a tracking control system synthesis for a nonlinear plant functioning under bounded external disturbances which are not available for measurement. A proposed solution is a robust modification of the backstepping approach with the similar controller design structure. The main changes are based on plant model transformations that make it possible to use the only one filer in control system and, along with it, an auxiliary loop method usage to disturbances evaluation and compensation. High-gain observers are used for unknown signals measuring together with their derivatives. Tracking errors and observation errors convergence with the adjustable accuracy during the finite transient time is proved. Efficiency of the algorithm is demonstrated using computer modeling in comparison with an analogue.\",\"PeriodicalId\":53447,\"journal\":{\"name\":\"SPIIRAS Proceedings\",\"volume\":\"46 1\",\"pages\":\"\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2018-06-01\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"3\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"SPIIRAS Proceedings\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.15622/sp.58.8\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"Q3\",\"JCRName\":\"Mathematics\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"SPIIRAS Proceedings","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.15622/sp.58.8","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"Q3","JCRName":"Mathematics","Score":null,"Total":0}
Output Control of Nonlinear Systems Using Modified Backstepping Algorithm with Disturbances Compensation
The article deals with a tracking control system synthesis for a nonlinear plant functioning under bounded external disturbances which are not available for measurement. A proposed solution is a robust modification of the backstepping approach with the similar controller design structure. The main changes are based on plant model transformations that make it possible to use the only one filer in control system and, along with it, an auxiliary loop method usage to disturbances evaluation and compensation. High-gain observers are used for unknown signals measuring together with their derivatives. Tracking errors and observation errors convergence with the adjustable accuracy during the finite transient time is proved. Efficiency of the algorithm is demonstrated using computer modeling in comparison with an analogue.
期刊介绍:
The SPIIRAS Proceedings journal publishes scientific, scientific-educational, scientific-popular papers relating to computer science, automation, applied mathematics, interdisciplinary research, as well as information technology, the theoretical foundations of computer science (such as mathematical and related to other scientific disciplines), information security and information protection, decision making and artificial intelligence, mathematical modeling, informatization.