ntvНаучно-технический вестник информационных технологий, механики и оптикиScientific and Technical Journal of Information Technologies, Mechanics and Optics2226-14942500-0373Университет ИТМО10.17586/2226-1494-2022-22-3-472-479ntv-242Research ArticleАВТОМАТИЧЕСКОЕ УПРАВЛЕНИЕ И РОБОТОТЕХНИКАAUTOMATIC CONTROL AND ROBOTICSАдаптивное управление нелинейным объектом с несогласованными параметрическими неопределенностями и ограничением на входное воздействиеAdaptive control of nonlinear plant with unmatched parametric uncertainties and input saturationhttps://orcid.org/0000-0002-9461-8180ПашенкоА. В.PashenkoA. V.

Пашенко Артем Витальевич — инженер

Санкт-Петербург, 197101

sc 57215657771

Artem V. Pashenko — Engineer

Saint Petersburg, 197101

sc 57215657771

ar.vi.pashenko@gmail.comhttps://orcid.org/0000-0001-8306-4138ГерасимовД. Н.GerasimovD. N.

Герасимов Дмитрий Николаевич — кандидат технических наук, доцент

Санкт-Петербург, 197101

sc 36637147000

Dmitry N. Gerasimov — PhD, Associate Professor

Saint Petersburg, 197101

sc 36637147000

dngerasimov@itmo.ruhttps://orcid.org/0000-0002-6355-0670ПарамоновА. В.ParamonovA. V.

Парамонов Алексей Владимирович — кандидат технических наук, ассистент

Санкт-Петербург, 197101

sc 57188966696

Aleksei V. Paramonov — PhD, Assistant

Saint Petersburg, 197101

sc 57188966696

avparamonov@itmo.ruhttps://orcid.org/0000-0003-4860-5407НикифоровВ. О.NikiforovV. O.

Никифоров Владимир Олегович — доктор технических наук, профессор, проректор по научной работе

Санкт-Петербург, 197101

sc 7103218872

Vladimir O. Nikiforov — D. Sc., Professor, Vice-Rector for Research

Saint Petersburg, 197101

sc 7103218872

nikiforov_vo@itmo.ruУниверситет ИТМОРоссияITMO UniversityRussian Federation202216122024223472479Copyright © Пашенко А.В., Герасимов Д.Н., Парамонов А.В., Никифоров В.О., 20242024Пашенко А.В., Герасимов Д.Н., Парамонов А.В., Никифоров В.О.Pashenko A.V., Gerasimov D.N., Paramonov A.V., Nikiforov V.O.Данная работа распространяется под лицензией Creative Commons Attribution 4.0.This work is licensed under a Creative Commons Attribution 4.0 License.https://ntv.elpub.ru/jour/article/view/242Предмет исследования

Предмет исследования. Рассмотрена задача адаптивного управления параметрически неопределенным нелинейным объектом, представленным в параметризованной форме с несогласованными неопределенностями и ограничением на величину входного воздействия.

Метод

Метод. Решение задачи основано на использовании процедуры адаптивного бэкстеппинга, виртуальные управления в которой зависят от старших производных настраиваемых параметров, рассчитанных с помощью алгоритма адаптации с улучшенной параметрической сходимостью. Выполнен аналитический синтез управления с компенсацией влияния ограничений на управление с применением специального фильтра.

Основные результаты

Основные результаты. Представленный подход позволяет синтезировать адаптивный регулятор для обеспечения ограниченности всех сигналов в замкнутой системе и слежения за задающим сигналом. Приведенные результаты моделирования в среде MATLAB/Simulink продемонстрировали работу подхода и ускорение параметрической настройки при повышении коэффициента адаптации.

Практическая значимость

Практическая значимость. Рассмотренный класс объектов описывает широкий спектр систем, таких как манипуляционные роботы, технологические процессы на производстве, электромагнитные системы с эффектом левитации, химические процессы и др. Предложенный алгоритм управления учитывает естественные в практических приложениях ограничения на входное воздействие и существенно снижает влияние скорости настройки параметров регулятора на переходные процессы системы управления.

The problem of adaptive control of a parametrically uncertain nonlinear plant presented in a state-feedback form with unmatched uncertainties and input constraint is considered. The solution is based on adaptive backstepping procedure, in which the virtual controls includes the high-order time derivatives of adjustable parameters calculated with the use of an adaptation algorithm with improved parametric convergence. Analytical design of control with compensation for the influence of input constraints is performed using of a special filter. The approach presented in this paper allows one to design an adaptive controller that ensures the boundedness for all signals in the closed-loop system and provides tracking of the reference signal. Simulation results presented in the MATLAB/Simulink environment illustrate the performance of the presented approach and the acceleration of parametric convergence with an increase of the adaptation coefficient. The plant considered in this work describes a wide class of systems, such as various manipulation robots, technological processes, electromagnetic levitation systems, chemical processes, etc. The proposed control algorithm considers natural for practical applications input constraints and significantly reduces the influence of the regulator parameters tuning speed on the control system transient processes.

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The authors declare that there are no conflicts of interest present.