Estimation of nonlinear higher order disturbances in the adaptive algorithms for position-trajectory control
Abstract
Estimation of nonlinear higher order disturbances in the adaptive algorithms for position-trajectory control
Incoming article date: 13.12.2016This paper presents an adaptive algorithm for position-trajectory control with reference model and estimation of nonlinear circuit unmeasured disturbances. The introduction of a robust observer derivatives in the base controller position-trajectory control, built on the principles of self-adjusting adaptive systems with a reference model, allows to estimate unmeasured disturbance characterized by non-linearity of the second order and higher, and to adapt the parameters of the system in order to reduce or minimize the zero mismatch errors between the control object and reference model. The use of derivatives allows the observer to increase the overall stability of the control system, otherwise, the system loses its stability in short-term effect of the disturbance on the control of high-order object.
Keywords: adaptive management, reference model, positional-trajectory control, observer, parameter estimation, the movable object, AUV