Corresponding author: Medvedev Mikhail Yu., D. Sc., Professor, Southern Federal University, Taganrog, 347928, Russian Federation, e-mail: medvmihal@sfedu.ru

Received on December 12, 2014
Accepted January 14, 2015

The topic of the article is the mobile objects' control, a model of which is presented by the equations of kinematics and dynamics of rigid bodies and the specific features of control for maneuvers requiring pitch angles of 90 degrees or over. Such tasks may involve specific problems, which do not allow us to present the desired dynamics of the closed-loop system in the form of a linear equation, that is, the system cannot be linearized by a feedback. The problem is solved due to application of the adaptive control systems with a reference model. In the article a procedure is proposed for a synthesis of a basic position-trajectory control. Basic control for a reference model was designed on the base of the method of Lyapunov functions. Adaptation of the basic control is carried out by the proportional and integral algorithms. The article presents a block-diagram of the closed-loop system and proves the stability of the adaptive control system. It shows that in a linear approximation, a characteristic equation of the closed-loop system is a product of a characteristic equation of the reference model, the mobile object, and the adaptation subsystem. The authors also present the modeling results. The proposed approach can also be used for different nonlinear systems with peculiarities. For example, in the electrical drives the field control voltage ensures a nonzero nominal flux at the first stage. Then, the supply control voltage ensures a nominal shaft rotation speed or torque. This approach allows us to control the shaft rotation speed with a zero field control voltage.

Keywords: position-path control, adaptive control, mobile object, reference model, function of Lyapunov

Acknowledgements: This work was supported by grant No. НШ-3437.2014.10 of the President of the Russian Federation and by a grant from the Russian Foundation for Basic Research, project No. 13-08-00315а.

For citation:
Pshikhopov V. Kh., Medvedev М. Yu. Adaptive Position-Path Control of Vehicles without a Feedback Linearization, Mekhatronika, Avtomatizatsiya, Upravlenie, 2015, vol. 16, no. 8, pp. 523—530.
DOI: 10.17587/mau.16.523-530

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