Journal
Scientific and technical journal «Priborostroenie»
UDK681.5.015.8
Issue:9 (64)
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NUMERICAL METHODS OF OPTIMIZATION FOR ROBUST CONTROL OF ROBOTIC AND MECHATRONIC SYSTEMS
Annotation
A new numerical method is developed for optimization of robust control over robotic and mechatronic systems. The method is based on minimizing the maximum of control system frequency response to disturbance in coordinate under regulation. The system stability is ensured by a new method of limiting the search area for the regulator parameters, based on the stability margin radius. This optimization method consists of parametric and structural tuning of the control system. Correctness of the proposed method is confirmed by presented results of numerical experiments.
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