Anton A. Pyrkin

Rejection of sinusoidal disturbance of unknown frequency for linear system with input delay

We present a new approach for rejection of a sinusoidal disturbance of unknown frequency, bias, amplitude, and phase for a linear unstable plant with a delay in the control channel. To solve the problem, we combine the well-known predictor feedback approach with the adaptive scheme that identifies the frequency of the disturbance. Compared to the existing results, the dynamic order of our adaptive scheme is low (equal to three) and the approach applies to plants that are unstable and have an arbitrary relative degree. The results are illustrated by the numerical example.

Compensation of unknown multi-harmonic disturbances in nonlinear plants with delayed control

A new algorithm is developed for compensation of parametrically uncertain multi-harmonic disturbances affecting a control plant. In contrast to the known results, this paper deals with the situation where the relative degree of the plant is arbitrary, the only measured signals are output and control, and there exist delays in the control channel.

Switched Algorithm for Frequency Estimation with Noise Rejection

The problem of parametric estimation of harmonic signals in the presence of noise and computational constraints is an important issue in many engineering fields. This technical note proposes an algorithm for frequency and bias estimation under noisy measurements. An approach for high-frequency noise rejection by switching is proposed and applied for improvement of the estimation accuracy. Efficiency of the approach is demonstrated through numerical simulations.

Adaptive algorithm to compensate parametrically uncertain biased disturbance of a linear plant with delay in the control channel

A new adaptive algorithm for compensation of parametrically uncertain biased harmonic disturbance was proposed. In contrast to the existing counterparts, consideration was given to the case of disturbance compensation where the relative degree of the plant model may be anyone, only the controlled output is measured, and the control channel is characterized by a delay.

Compensation of unknown sinusoidal disturbances in linear plants of arbitrary relative degree

A new algorithm is proposed for compensating parametrically uncertain harmonic disturbances. In contrast to the known results, the compensation is carried out in the situation where only the output variable and the control signal are measured, and the relative degree of the plant is arbitrary.

Output control algorithm for unstable plant with input delay and cancellation of unknown biased harmonic disturbance

Abstract We present a new stabilization approach for a linear plant with input delay, parametric uncertainties, and an unknown harmonic disturbance. To solve this problem, we combine the well-known predictor feedback approach with the state observer and adaptive scheme that identifies the frequency of the disturbance. Compared to the existing approaches, the dynamic order of our adaptive scheme is low (equal to three) and the results apply to plants that are unstable, non-minimum phase, and have an arbitrary relative degree.

Adaptive observer of an unknown sinusoidal output disturbance for linear plants

A new algorithm is proposed to the design of an adaptive observer for an unknown sinusoidal disturbance that affects the output of a non-minimum phase linear control plant.

Compensation of harmonic disturbances in nonlinear plants with parametric and functional uncertainty

Methods of compensation of harmonic disturbances from the measurements of the output variable are developed for nonlinear plants with parametric and functional uncertainty. A new control algorithm is proposed, which outperforms known methods in simplicity of implementation and some other characteristics.

Using of LEGO Mindstorms NXT Technology for Teaching of Basics of Adaptive Control Theory

Abstract An article describes laboratory plants based on LEGO Mindstorms NXT Technology and made of several electromechanical systems. These plant are used both for research and educational purposes. They allow to study and to compare different identification and adaptive control algorithms. Certain results of application of theoretical adaptive control algorithms for various Lego Mindstorms NXT mobile robots (track, wheel and walking ones) and reaction-wheel pendulum-cart systems are presented in the article.

An Iterative Algorithm of Adaptive Output Control with Complete Compensation for Unknown Sinusoidal Disturbance

The problem is considered for the output control of a linear, parametrically indeterminate object subjected to the effect of an external unknown, sinusoidal disturbing influence. The solution of this problem is found in the class of iterative adaptive algorithms involving the channels of stabilization and identification of the frequency of a disturbing influence.