A method is proposed for the synthesis of a closed-loop system with controls that ensure the movement of an object with minimal deviations from a given trajectory of the output coordinate and its higher derivatives and a transition to this set. To solve the problem, the Pontryagin maximum principle is used to study special situations without analysis of auxiliary variables, supplemented by the apparatus of general position conditions for nonlinear systems in an extended coordinate space, taking into account the object, a functional that is nonlinear regarding deviations of the output coordinate and the explicit occurrence of time. The combined use of these methods allows us, firstly, to find special trajectories of coordinates that are higher derivatives of the output coordinate, and after excluding time, a special phase trajectory is found, which is a switching line for reaching the final state, a given programmed motion along which in a closed system is carried out by special control. Secondly, access to a special phase trajectory from the initial state is carried out for linear objects by relay control, and for nonlinear objects, under certain boundary conditions, relay control is supplemented by a special control of the speed problem. Examples of control of programmed motion with oscillatory and aperiodic processes of a given duration for linear and nonlinear objects are given. Taking into account the nature of equilibrium states, determined by the methods of the qualitative theory of differential equations, and restrictions on control and coordinates, topologies of trajectories are obtained for the implementation of a continuous special control or sliding mode. New algorithms and structures of control systems are obtained. The results are accompanied by modeling, illustrating the effectiveness of algorithms and structures of control systems according to the proposed synthesis method and confirming analytical materials. The results of the work can be used to control linear and nonlinear objects in mechatronics, robotics, thermal processes and other industries.

The article deals with the problem of state observer design for a linear time-varying plant. To solve this problem, a number of realistic assumptions are considered, assuming that the model parameters are polynomial functions of time with unknown coefficients. The problem of observer design is solved in the class of identification approaches, which provide transformation of the original mathematical model of the plant to a static linear regression equation, in which, instead of unknown constant parameters, there are state variables of generators that model non-stationary parameters. To recover the unknown functions of the regression model, we use the recently well-established method of dynamic regressor extension and mixing (DREM), which allows to obtain monotone estimates, as well as to accelerate the convergence of estimates to the true values. Despite the fact that the article deals with the problem of state observer design, it is worth noting the possibility of using the proposed approach to solve an independent and actual estimation problem of unknown time-varying parameters.

The expediency of using the tools of visual-effective, visual-figurative and conceptual thinking for planning the purposeful activity of autonomous intelligent agents in problem environments of various degrees of a priori uncertainty has been substantiated. The content is revealed and the role of each form of thinking is shown in the process of automatic planning of the purposeful behavior of autonomous intelligent agents in the changing conditions of functioning. The special role of conceptual thinking in the performance of complex tasks by autonomous agents and the planning of polyphasic behavior associated with it is indicated. Taking into account the complexity of the problems associated with the formalization of mental acts of conceptual thinking, possible ways of its gradual development from the initial level to the transition to higher levels of development are shown, expanding on this basis the class of tasks solved by autonomous intelligent agents. A model of knowledge representation and tools for deriving solutions of the initial level of conceptual thinking have been developed, which allow intelligent agents to break down the tasks they receive into sub-goals of behavior. Then, on this basis, plan polyphase activity by searching for solutions to the associated subtasks, which ensure the determination of the minimum length routes of movement in a prob lematic environment with obstacles and the purposeful manipulation of objects in it. The tools are synthesized allowing to establish the order of elaboration of complex actions included in the structure of the task formulated by autonomous intelligent agents. It is shown that the further development of the proposed methodological foundations for constructing intelligent problem sol vers is associated with the formalization of a higher level of mental acts of conceptual thinking, which make it possible to solve practical problems of different complexity, formulated both in procedural and declarative form of presentation in the form of various target situations of the problem environment, having a large dimension.

Continuum robots are a unique type of robots that move due to the elastic deformation of their own body. Their flexible design allows them to bend at any point along their body, thus making them usable in workspaces with complex geometry and many obstacles. Continuum robots are used in industry for non-destructive testing and in medicine for minimally invasive procedures and examinations. The kinematics of continuum robots consisting of a single bending section are well known, as is the forward kinematics for multi-section continuum robots. There exist efficient algorithms for them. However, the problem of inverse kinematics for multi-section continuum robots is still relevant. The complexity of the inverse kinematics for multi-section continuum robots is quite high due to the nonlinearities of the robots’ motion. The article discusses in detail the modification of the FABRIK algorithm proposed by the authors, as well as a Jacobian-based iterative algorithm. A comparison of inverse kinematics algorithms for multi-section continuum robots with constant section length is given and the results of the experiment are described.

One of the disadvantages of existing main magnetic compasses (МС) is the presence in their readings of an error from pitching due to the influence of centripetal and tangential accelerations when the MC is placed at a certain distance from the center rocking of the ship. This error can be unacceptably large, especially when using the compass in high latitude environments. This effect can be compensated by using a gyroscopic angular rate sensor (ARS), which measures the angular yaw rate of the ship. The work is devoted to the results of research and simulation of two correction system, which is introduced into the measuring circuit of the MC. Each of the correction systems presented in this work can be considered as mechatronic control device for a modern MC, one of them is positional, and the other is according to the angular yaw rate of the ship. The paper shows the advantages and disadvantages each of systems. So, a feature of the positional correction system is the need to use ARS of a tactical accuracy class (for example, a fiber-optic gyroscope). At the same time, the yaw rate correction system makes it possible to use a cheap micromechanical gyroscope (MMG). Despite the use ARS of various accuracy classes, both proposed correction systems allow achieving similar results, which leads to an obvious conclusion about the advisability of using the correction system with MMG, which allows to significantly reduce the cost of the MC, as well as to reduce its weight and dimensions.

The use of large-sized opening reflectors close-packed in spacecraft is associated with spreading the spokes at a given angle, extending the fragments of the spokes and adjusting the shape of the radio-reflecting mesh. The problem of optimizing these processes with automatic output of the reflector to the deployed working state is urgent. The optimal control problem of spreading spokes of a large-sized space-based reflector with respect to bending vibrations is investigated in the article. The optimization process is complicated by ensuring convergence of iterative procedure for control finding. The bending vibrations of the spokes complicate the task of spreading. That makes it difficult to fix spokes when reaching the stops. In this paper the mathematical model of spoke dynamics is improved with respect to spoke’s bend change in length and in time, the model takes into account the presence of stop and retainer devices and an actuator. It is proposed to consider a hierarchy of two target composed functions and develop an algorithm for sequential optimization for a smooth exit to the stops. It is suggested to include the terminal condition for the angular spreading rate in the first criterion. A study was carried out using mathematical simulation for the process of turning the spoke by a given angle at small values of the angular velocity at the final moment of time taking into account bending vibrations. The exact values of the weight coefficients included in the target composed functions are found. Weight coefficients influence on transient processes is investigated. The performance of the algorithm was checked when the value of the optimization interval was changed. The comparison of the results of simulation modeling with control options using the PID controller, application of an algorithm with a predictive model and an algorithm with optimal correction of the control structure, revealed by means of the maximum principle, was carried out. The results of simulation modeling foe spokes spreading process using the sequential optimization algorithm demonstrate the achievement of the required accuracy with permissible tolerance residual vibrations. The developed algorithm of sequential optimization forms control in a real time and it is recommended to use it in more complex solutions under random disturbances using measurement process and optimization of observation intervals.

The importance of information about the true airspeed and aerodynamic angles of aircraft and replenishment of arsenal of their measuring means with only electronic design scheme, low weight and cost, providing a panoramic measurement of the gliding angle is noted. It is shown that traditional measuring means of true airspeed of AP, which implement the aerodynamic and vane measuring methods of parameters of incoming air flow, using receivers and sensors distributed over the fuselage, have a complex design, significant weight and cost, and limited ranges of measuring aerodynamic angles, which limits their use on small-sized aircraft plane. The integrated sensor of aerodynamic angle and true airspeed, which implements a vortex method for measuring the parameters of incoming air flow, is considered. A single fixed flow receiver simplifies the design, and the time-frequency primary informative signals reduce the errors of instrumentation channel. The limited range of measurement of the gliding angle limits the use of the sensor on small AP. The integrated sensor of aerodynamic angle and true airspeed, which implements the ion-mark method for measuring the parameters of incoming air flow, is considered. The sensor provides a panoramic measurement of aerodynamic angle using receivers distributed in the measurement plane. But the multichannel measuring circuit significantly complicates the design, increases the weight and cost of the sensor, which limits its use on small-sized aircraft plane. The functional scheme of the original panoramic purely electronic sensor of the aerodynamic angle and true airspeed with one fixed receiver of the incoming air flow and ultrasonic instrumentation channels is revealed. Analytical models of the formation, processing and determination of the aerodynamic angle and true airspeed using frequency, time-pulse and phase informative signals are obtained. The analysis of the variants of used informative signals determines the prospects of using of the panoramic sensor with frequency informative signals on small-sized aircraft plane, in which there are no methodological errors from the influence of the ambient temperature when changing the flight altitude.