FULL TEXT IN RUSSIAN

Mekhatronika, Avtomatizatsiya, Upravlenie, 2018, vol. 19, no. 7, pp. 435—441
DOI: 10.17587/mau.19.435-441

V. F. Filaretov, D. Sc., Head of Laboratory, Head of Department, filaret@iacp.dvo.ru, D. A. Yukhimets, D. Sc., Senior Researcher, undim@iacp.dvo.ru, Institute of automation and control processes FEB RAS, Vladivostok, Far Eastern Federal University, Vladivostok

The New Strategy of Designing Tracking Control Systems for Dynamical Objects with Variable Parameters

In this paper, the new strategy of controlling complicated dynamical objects with variable or unknown parameters during their movement along smooth spatial trajectories is proposed. The proposed strategy is based on correcting program signals that define the movement of this object depending on accurate dynamical-object movement. Using this strategy considers the variance of dynamical object parameters and increased accuracy of their movement when typical linear controllers are used. The simulations and experimental researches confirmed the workability and efficacy of the proposed strategy.
Keywords: control theory, tracking systems, mobile robot control, accuracy, design systems, dynamic object, motion control systems

P. 435 – 441

The work was supported by the Russian Foundation for Basic Research (grants 16-29-04195, 17-57-45055).

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