Chain network control by using auxiliary loop method under large-amplitude disturbances

The article presents a solution to the problem of controlling a network of a chain structure, where each agent is a linear plant influenced by the action of external uncontrolled large-amplitude perturbations under a priori uncertainty. For a chain network the auxiliary loop method is used. In each agent of the network the output of the previous agent is monitored, and the signal from the leading subsystem arrives only at the first agent of the network. The control systems of each agent are built using the measured data on the output of the agent and the agent preceding it. Compensation for the effect of perturbations is carried out by generating a special signal that carries information about all perturbations of the system, and then damping it by an auxiliary loop. Since the problem can be solved using only the measured scalar input and output signals, then two observers of the variables of the system. should be used to obtain estimates of the derivatives of these signals necessary for the formation of control actions. Thus, the chosen control laws in each agent of the chain ensure the achievability of the control goal with the required dynamic accuracy. An example of a chain network with four linear control plants is given. The proposed control is applied to the network plant. Computer simulation was carried out in the Matlab Simulink environment. Tracking error transients are presented for each of the four agents of the chain network. The simulation results confirmed the theoretical conclusions and showed the effectiveness of the proposed chain network control law under external uncontrolled disturbances of large amplitude.