Dynamic Correction Algorithms in Multi-axis Systems Based on Predictive and Invariant Control Methods

摘要

This article considers the issue of controlling a mobile robotic technological complex based on the use of predictive and invariant control methods for compensation of external indeterminate perturbations. Authors carry out the analysis of the perturbations arising in the control system. We propose to introduce three correction contours into the control system structure ensuring parrying of all the perturbation components. A modification of the classical predictive control scheme based on the application of complementary correction algorithms is presented. The algorithms of the complementary correction are based on the statements of the fourth modified form of invariance. We consider the application of cross-correction in the automatic control system of a robot while controlling the motion along specified technological trajectories.