Multi-degree-of-freedom Nonlinear Mechanical Plant Adaptive Control

This paper discusses the problems of synthesis of control of multi-degree-of-freedom (multi-DOF) nonlinear mechanical plants in conditions of parametric and functional uncertainty. Nonlinear adaptive control systems are developed and investigated, synthesized on the basis of two approaches: on the basis of the exact method of backward traversal of the integrator with modified adaptation algorithms with the so-called parametric projection, and also on the basis of the approximate method of majorizing functions. A comparative study is carried out by modeling the developed adaptive systems for a complete nonlinear mathematical model of a three-DOF manipulation arm using MATLAB/Simulink software.