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Article title REFERENCE MODEL ADAPTIVE CONTROL FOR DC DRIVE
Authors V.Kh. Pshikhopov, M.Yu. Medvedev, V.A. Shevchenko
Section SECTION I. AUTOMATION AND CONTROL
Month, Year 02, 2015 @en
Index UDC 681.513.66
DOI
Abstract The problem of mobile objects control is considered. The model is represented by the equations of kinematics and dynamics of rigid bodies. The features control for maneuvers requiring pitch angles of 90 degrees or more are investigated. In such problems, the determinant of the ma- trix of kinematics may be equal to zero. This fact does not allow to set the desired dynamics of the closed-loop system in the form of li-linear equations. In other words the system cannot be linearized by feedback. The problem is solved by applying adaptive control systems with a reference model. A procedure for the synthesis of the basic position-trajectory control is proposed. Base control for a reference model is designed on base of the method of Lyapunov functions. Adaptation of the base control is carried out by proportional and integral algorithms. The block-diagram of the closed-loop system is presented. The stability of the adaptive control systemis proved. It is shown that in the linear approximation, the characteristic equation of the closed-loop system is a product of the characteristic equation of the reference models, the mobile object, and the adaptation subsystem. Modeling results are presented.

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Keywords Position-path control; adaptive control; mobile object; reference model; function of Lyapunon.
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