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A synergistic method for the control crawler platform

Abstract

A synergistic method for the control crawler platform

Mezhakov O.G.

Incoming article date: 10.09.2018

The problem of synthesis of the speed regulation law and the angle of rotation of a crawler platform with DC electric drives in a nondeterministic medium is discussed. The solution of the task is achieved by using a synergetic controller with a hierarchical control principle. The crawler platform control is considered on the basis of the mathematical model of platform motion and electric drives

Keywords: synergetic control theory, ACAR method, hierarchical method, integral adaptation, crawler platform, DC electric drive