Adaptive Robust Control of Complex Electromechanical Moving Objects, Synthesized Based on Modified Backstepping and Sliding Mode Methods under Conditions of Parametric Uncertainty and Unknown External Disturbances

The article develops adaptive control systems for electric drives of main motors and tracking systems of propellers tilt angles for а complex electromechanical moving object (CEMMO) under conditions of unknown electric drives and tracking systems parameters and unmatched unknown external disturbances. Adaptive algorithms are proposed, synthesized on the basis of a simplified adaptive backstepping method with sliding modes and the Lyapunov functions method to compensate for parametric uncertainty and unmatched unknown external disturbances. Using Lyapunov stability methods, it is proved that tracking errors and parameter estimation errors are bounded and exponentially converge to the largest invariant set. The results of computer simulation conducted in the MatLab/Simulink environment demonstrate the validity and effectiveness of the developed modified adaptive robust control algorithms.