Abstract: The study presents multi-contour position vehicle control system ensuring astaticism and adaptive tuning of parameters. Positioning of the controlled object in a pre-defined point is considered. In the first contour the control action is calculated to provide the desired dynamics of the closed-loop system with astaticism of the second order. The second control contour performs tuning of the parameters according to the known algorithms of searchless adaptation using the reference models. An algorithm is proposed resulting in pre-set values of the characteristic equation of the tuned system. The first and the second contours of the control system compensate the external disturbances and adapt to parametric disturbances. The third contour performs tuning of the reference model that makes it possible to change the requirements to the closed-loop system depending on whether the system satisfies the limitations on control actions. When the limitations on the amplitude of control actions are reached, the system increases the time constants of the reference control. Stability of the closed-loop system was analyzed using the Lyapunov functions method. The proposed control algorithms are demonstrated using an example of a vehicle described by equations of solid body kinematics and dynamics. In the equations of dynamics the resisting forces are accounted. The disturbances are presented in a form of linear functions of time. The presented modeling results confirm the correctness of the theoretical conclusions. The proposed algorithms can be used as well for controlling the trajectory of the vehicle.
Viacheslav Pshikhopov and Mikhail Medvedev, 2018. Position Control of Vehicles with Multi-Contour Adaptation. Journal of Engineering and Applied Sciences, 13: 8921-8928.