| Autor: |
V. V. Putov, Le Hong Quang, V. N. Sheludko |
| Rok vydání: |
2020 |
| Předmět: |
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| Zdroj: |
2020 International Multi-Conference on Industrial Engineering and Modern Technologies (FarEastCon). |
| DOI: |
10.1109/fareastcon50210.2020.9271415 |
| Popis: |
This paper discusses the problems of synthesis of control of multi-degree-of-freedom (multi-DOF) nonlinear mechanical plants in conditions of parametric and functional uncertainty. Nonlinear adaptive control systems are developed and investigated, synthesized on the basis of two approaches: on the basis of the exact method of backward traversal of the integrator with modified adaptation algorithms with the so-called parametric projection, and also on the basis of the approximate method of majorizing functions. A comparative study is carried out by modeling the developed adaptive systems for a complete nonlinear mathematical model of a three-DOF manipulation arm using MATLAB/Simulink software. |
| Databáze: |
OpenAIRE |
| Externí odkaz: |
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