An Extension of the Method of Aggregated Regulators to a Discrete Stochastic Object

摘要

A problem statement for the synthesis of a robust stochastic regulator based on the principles of control on manifolds and a new algorithm for designing a second-order stochastic discrete object are presented. Illustrative examples of solving two applied problems based on the designed regulator are given. The first demonstrates an application of the regulator for controlling an economic object unstable in an open position. The second contains a theoretical result in the form of a new algorithm for synthesizing a system of control over a vector object of the “manipulating system” type, whose physical model represents an implement of a single-bucket hydraulic excavator. The problem of constructing a system of control over the process of stabilization of the bucket angular position is considered. The algorithm for designing a control system and the respective control algorithm applied to the solution of the problem of stabilization of the robot-excavator bucket motion across the engineered surface could be useful for any manipulating systems.