Purpose. Combined control methods with uncertainty assessment have been developed to provide the workforce.
Application area. Due to the simplicity and high accuracy rates of the proposed methods, interest is expected from a number of enterprises related to robotics, metalworking, automatic control of weapons, and the implementation of developments.
Advantages. To ensure operability, variable structure systems (VSS) are most widely used. VSS have a high degree of operability, but they have a number of disadvantages. These include poor noise immunity to high-frequency interference, the ability to excite vibrations of elastic elements, the introduction of high-frequency vibrations into the system that impair control accuracy, lack of operability in the areas where switching lines are reached, increased energy consumption, reduced reliability, and the generation of acoustic noise. The developed combined control methods with uncertainty assessment ensure productivity without the above disadvantages.
Technical and economic effect. Unlike the prototype (VSS), the systems being developed do not have the above disadvantages. This increases the resource, reliability, and accuracy of the proposed control systems in relation to known systems. Reduces noise and energy consumption. All this gives a significant economic effect.
Description. The idea of the method is as follows. In a dynamic system, all unknown external actions associated with nonlinearities, nonstationarities, and parametric uncertainties of the dynamic model are combined into one vector. This vector is identified by a dynamic filter (observer) and compensated by one of the components of the control law, and with the help of the second component, control is provided for the completely remaining deterministic linear stationary system. In this case, the quality indicators of the general nonlinear uncertain control system will be described by the quality indicators obtained for linear systems. The developed methods allow synthesizing control systems without detailed knowledge of the dynamics of control objects, which in many cases is difficult, and in some cases, impossible to describe mathematically.