Position Control of Maneuverable Underwater Vehicle Based on Model Identification

Alexandrov, Vadim; Shatov, Dmitrii; Abramenkov, Alexander; Abdulov, Alexander

doi:10.1109/summa60232.2023.10349373

2023 5th International Conference on Control Systems, Mathematical Modeling, Automation and Energy Efficiency (SUMMA) 2023

DOI: 10.1109/summa60232.2023.10349373

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Position Control of Maneuverable Underwater Vehicle Based on Model Identification

Vadim Alexandrov,

Dmitrii Shatov,

Alexander Abramenkov

et al.

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2024

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Cited by 2 publications

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An Optimal Choice of Characteristic Polynomial Roots for Pole Placement Control Design

Alexandrov

2024

ARC

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The problem of finding the arrangement of closed-loop control system poles that minimizes an objective function is considered. The system optimality criterion is the value of the H∞ norm of the frequency transfer function relative to the disturbance with constraints imposed on the system pole placement and the values of the H∞ norm of the sensitivity function and the transfer function from measurement noise to control. An optimization problem is formulated as follows: the vector of variables consists of the characteristic polynomial roots of the closed loop system with the admissible values restricted to a given pole placement region; in addition to the optimality criterion, the objective function includes penalty elements for other constraints. It is proposed to use a logarithmic scale for the moduli of the characteristic polynomial roots as elements of the vector of variables. The multi-extremality problem of the objective function is solved using the multiple start procedure. A coordinate descent modification with a pair of coordinates varied simultaneously is used for search.

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An Optimal Choice of Characteristic Polynomial Roots for Pole Placement Control Design

Alexandrov

2024

ARC

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Optimization of the Characteristic Polynomial Roots Choice for the Pole Placement Control Design

ALEXANDROV

2024

Avtomatika i telemehanika

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Рассматривается задача поиска размещения полюсов замкнутой системы управления, которое обеспечивает минимизацию целевой функции. Критерием оптимальности системы выбрано значение H∞ нормы частотной передаточной функции относительно возмущения при соблюдении ограничений на размещение полюсов системы и значения H∞ норм функции чувствительности и передаточной функции от помехи измерения к управлению. Сформулирована задача оптимизации, в которой вектор варьируемых переменных – это корни характеристического полинома замкнутой системы, допустимые значения которых ограничены заданной областью размещения полюсов, а целевая функция, кроме критерия оптимальности, включает штрафные элементы, сформированные для остальных ограничений. Предложено использовать логарифмический масштаб для модулей корней характеристического полинома как элементов вектора варьируемых переменных. Проблема многоэкстремальности целевой функции решается применением процедуры множественного старта. Для поиска используется модификация покоординатного спуска, в которой варьируется одновременно пара координат.

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Position Control of Maneuverable Underwater Vehicle Based on Model Identification

Cited by 2 publications

References 7 publications

An Optimal Choice of Characteristic Polynomial Roots for Pole Placement Control Design

An Optimal Choice of Characteristic Polynomial Roots for Pole Placement Control Design

Optimization of the Characteristic Polynomial Roots Choice for the Pole Placement Control Design

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