Nonlinear Robust Control Parametric Synthesis by Moving Plants with Elastic Elements

Abstract

In this paper we improve the control accuracy of moving nonlinear plant with elastic elements and with uncertain plant parameters by means of multiobjective parametric synthesis of two-degrees-of-freedom nonlinear robust control. The controller parameters are defined as multicriteria game solution, which is calculated based on particles multiswarm optimization algorithms. The multi-criteria game payoff vectors are direct indexes performance vector that are presented to the system in various modes of its operation. The direct indexes performances are calculated by modeling of the synthesized nonlinear system with different input signals and for various values of the plant parameters and for various modes of operation of the system. Research of the dynamic characteristics of moving nonlinear plant with elastic elements and with uncertain plant parameters with synthesis nonlinear robust controllers for different input signals and for various plant parameters values and for various system operation modes are presented. The use of synthesized nonlinear robust controllers allowed to improve the system accuracy in various system operation modes and to reduce the system sensitivity to uncertain plant parameters in comparison with the existing system.