Оптимізація програмованих траєкторій стабілізації рухомих обʼєктів на основі систем керування змінної структури

• Дата: 2023
• Автор: Timchenko, Victor
• Формат: Стаття
• Мова: Ukrainian
• Опубліковано: V.M. Glushkov Institute of Cybernetics of NAS of Ukraine 2023
• Теми: рухомі обʼєкти; нелінійні нестаціонарні моделі; оптимізація; програмовані траєкторії; критерії оптимальності
• Онлайн доступ: https://jais.net.ua/index.php/files/article/view/56
• Назва журналу: Problems of Control and Informatics

The article considers optimal systems that provide dynamic systems with high control quality indicators: speed, accuracy, and low energy consumption. An approach to the synthesis of robust-optimal systems based on the use of feedback with a variable structure is being developed and includes the following main stages: planning of the programmed optimal trajectory; determination of moments of switching of control functions in feedback loops of the object; synthesis of control functions in the corresponding feedback loops of a multidimensional object. The application of the proposed order of synthesis of systems with a variable structure for various types of objects based on the preliminary construction of optimal programmed trajectories of stabilization of dynamic processes allows optimizing the stabilization processes of nonlinear non-stationary systems of high order. Optimal programmed stabilization trajectories are formed from segments established relative to the corresponding derivative of the motion coordinate, based on polynomial forms for given boundary conditions and the optimality criterion, taking into account limited control values, and are solved for the time of moments of switching of control and the time of the end of the transition process based on a system of algebraic equations. Control synthesis is carried out taking into account the initial values based on the equations of the balance of forces and moments efforts on the moving object and their derivatives. The optimal trajectory and control are formed in such a way that, during the synthesis of an additional robust control circuit (with feedback from the output of the object) to compensate for the incomplete certainty of the mathematical model and uncontrolled (unmeasured) disturbances and noises, sufficiently limited areas of changing the coordinates of the moving object relative to given values. In the future, this allows the construction of sufficiently effective and practical in the implementation of robust-optimal control systems, for example, marine mobile objects, quadcopters, that function in conditions of considerable uncertainty.