TY - JOUR

T1 - SPECTRAL DESIGN OF H∞-OPTIMAL TRACKING CONTROLLER WITH MULTIPURPOSE STRUCTURE

AU - Князькин, Ярослав Вячеславович

AU - Сотникова, Маргарита Викторовна

PY - 2025

Y1 - 2025

N2 - This research is focused on the design of the tracking control laws, that guarantee insensitivity to the external disturbances. This problem is complicated by the fact that its spectral features are not fully presented. The proposed algorithm is based on spectral approach in frequency domain to H∞-optimization, which guarantees non-uniqueness of the optimal solution that makes it possible to design the controller in multipurpose structure. This approach to the optimal controller design reduces computational time of synthesis that is essential in case of onboard control systems of autonomous moving robots with an adaptive changeover in real-time operating mode. Applicability and effectiveness of the presented approach are demonstrated by numerical example of a tracking control design for the remotely operated marine vehicle.

AB - This research is focused on the design of the tracking control laws, that guarantee insensitivity to the external disturbances. This problem is complicated by the fact that its spectral features are not fully presented. The proposed algorithm is based on spectral approach in frequency domain to H∞-optimization, which guarantees non-uniqueness of the optimal solution that makes it possible to design the controller in multipurpose structure. This approach to the optimal controller design reduces computational time of synthesis that is essential in case of onboard control systems of autonomous moving robots with an adaptive changeover in real-time operating mode. Applicability and effectiveness of the presented approach are demonstrated by numerical example of a tracking control design for the remotely operated marine vehicle.

KW - H∞-optimization

KW - dynamic correction

KW - marine autopilot

KW - multipurpose structure

KW - tracking control

UR - https://www.elibrary.ru/item.asp?id=82683152

UR - https://www.mendeley.com/catalogue/084d9654-fff8-31f9-8fbe-e29c1d82eefa/

U2 - 10.21638/spbu10.2025.210

DO - 10.21638/spbu10.2025.210

M3 - Article

VL - 21

SP - 302

EP - 313

JO - ВЕСТНИК САНКТ-ПЕТЕРБУРГСКОГО УНИВЕРСИТЕТА. ПРИКЛАДНАЯ МАТЕМАТИКА. ИНФОРМАТИКА. ПРОЦЕССЫ УПРАВЛЕНИЯ

JF - ВЕСТНИК САНКТ-ПЕТЕРБУРГСКОГО УНИВЕРСИТЕТА. ПРИКЛАДНАЯ МАТЕМАТИКА. ИНФОРМАТИКА. ПРОЦЕССЫ УПРАВЛЕНИЯ

SN - 1811-9905

IS - 2

ER -