The algorithms of model reference parametric adaptation are considered, providing the astaticism and disturbances estimation. The structure of the control system is suggested allowing to design multivariable controllers providing the movement along the specified trajectories for an object described by kinematics and dynamics of mechanical systems in three-dimensional space. The asymptotic stability of a closed-loop adaptive system including a loop to provide astaticism is proved by the method of Lyapunov functions. The errors analysis is carried out of disturbances estimation by asymptotic observer. The boundaries of the estimation error are shown, and the relations are given to adjust the observer parameters. The results of the numerical investigations are given.

考虑了模型参考参数自适应算法，提供了静力学和扰动估计。建议采用控制系统的结构，以便设计多变量控制器，以提供沿指定轨迹运动的对象，该对象由三维空间中的机械系统的运动学和动力学描述。利用Lyapunov函数的方法证明了包括提供静力的回路的闭环自适应系统的渐近稳定性。误差分析是由渐近观测者进行的干扰估计。显示了估计误差的边界，并给出了调整观察者参数的关系。给出了数值研究的结果。