DEVELOPMENT OF A HYBRID APPROACH TO MANAGING COMPLEX TECHNICAL SYSTEMS

Rudakov Roman Vadimovich

This paper presents a hybrid approach to controlling complex technical systems based on dynamic switching between different control modes depending on current operating conditions. The proposed method combines the advantages of a classic PID controller, sliding and quasi-sliding modes with pulse width modulation (PWM), which improves the stability, accuracy, and robustness of the system while reducing energy consumption. Simulation was performed using a single-link manipulator as an example, including analysis of transient processes, tracking errors, and stability using the Lyapunov function. The results show a reduction in transient process time by more than 40% and a decrease in static error compared to traditional methods. The proposed approach can be used for adaptive control of robots and mechatronic systems operating under conditions of uncertainty and external disturbances.

Keywords:hybrid control; complex technical systems; PID controller; sliding mode; quasi-sliding mode; pulse width modulation; stability; robustness; simulation; manipulator control