Synthesis Algorithm for a Continuous Robust Regulator on a Manifold for a Manipulator under Non-Random Noise Conditions

The nonlinear adaptation algorithm is considered as applied to stabilization of the center of mass of a moving object subject to nonrandom noise in the control variable. An unknown disturbance is a bounded and continuous function of time. To solve the problem of its modeling and suppression, the following result is used: continuous functions can be described as partial solutions of some differential equations. The developed control algorithm guarantees full compensation of the external disturbance under certain conditions. The simulation result of the obtained control is applied to a manipulation object.