Robust-adaptive control system with reference model for dynamic control of the interconnected electric drives of robotic technological complex

Abstract

The system design of robust-adaptive automatic control systems with a reference model for dynamic control of multiply connected electric drives of a robotic technological complex is considered. To improve the quality of motion control for each section of the trajectory interconnected linearized dynamic models are used. The characteristics of models are refined in the process. The control strategy is based on the theory of nonlinear robustadaptive control and is adjusted as the mathematical model of dynamics is refined. The block scheme of the ACS, control algorithms and design methodology of robust-adaptive ACS of electric drives are reduced.