Shevchenko Victor
ABSTRACT
The paper presents the multi-loop algorithm of adaptation of position-trajectory control system a mobile object, with the contour of estimating unmeasured parameters, a reference model and contour of ensure 2-th order astatism. Estimation of unmeasured parameters is performed at the top control level in the reference model, that allows to provide high precision of the final positioning of the mobile object at the target point, which is specified as a parameter of the reference model. The application of the developed algorithm is feasible in systems of group control of mobile objects when one object from the group is the leading, and its parameters are used as parameters of the reference model.
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