Increasing the productivity of technological operations is a current task of modern science. The introduction of modern industrial equipment control systems is associated with the digitalization and computerization of enterprises. Vibration technology is one of the common types of industrial equipment used for screening, crushing, vibratory movement, etc. The energy approach for the vibration setups control makes it possible to keep a constant level of total energy of vibration setup oscillations, which makes it possible to develop intelligent control system under conditions of uncertainty in the parameter space. This paper is devoted to the study of the influence of digitalization and discretization on the speed gradient algorithm operation for the multiple synchronization control of vibration setup rotors and evaluation of the critical sensor signals sampling steps. The paper presents the results of numerical simulation based on the system dynamics equations and approximate values of vibration setup parameters. The simulation results present that an increase of the discretization sampling step leads to a disruption of the multiple synchronization mode up to the stability loss. The results of an experimental study on a mechatronic vibration setup SV-2M demonstrate in normal operation mode the low-frequency oscillations of the rotors speeds and the total system energy, which frequency is determined by the control signal limit. When the discretization step increase, the motion with stops is observed, which has a similar nature with the stable relaxation self-oscillations. The practical relevance of the obtained results is a detection of possible effects that occur in the system with significant discretization steps. Further development of adaptive control systems can be aimed to compensating of the discretization effect on the operation of the speed gradient control of the vibration setup rotors synchronization.

The category of target designation is considered as the upper level of joint control of an object in the ergatic system "man-machine". Target designation refers to the initial need that precedes the planning and execution of the controlled movement of some object of the ergatic system. Such management is presented as a variant of situational management, defined by D. S. Pospelov on the basis of a model of actions and responses of a human operator and a machine adopted in engineering psychology. The control automaton of the system is given the properties inherent in the human operator. The anthropomorphism of control actions is used in the construction of the designation of the control automaton on a set of incomplete representations of elementary movements of the depicting point along the trajectory in the space of states of the "man-machine" system. It is shown that the angular points of the trajectory mark complete situations in the state space, the change of which is caused by signals of discrete anthropomorphic control. The change of situations and elementary movements are matched with the elementary goals and intermediate goals in a structured hierarchy of a complete system of target designation goals, arranged in time. Quantitative estimates of the complete system of goals were obtained. The principal possibility of structuring target designation at the entire stage of operation of the vital cycle of the "man-machine" system is shown. The description of the adopted approach to the design of target designation is accompanied by an example of the application of methods of the theory of optimal control and expert opinions and assessments of boatmasters for the organization of anthropomorphic control of the vessel’s movement in conditions of increased danger. The results of the analysis of experimental data are presented, according to which quantitative estimates of the complete systems of goals implemented in the executed movements of ships are given when the main goal is achieved — the entry of the vessel into the lock chamber. The analogous estimates for comparison are made according to the patterns of anthropomorphic management developed for the same main purpose. The results of the discussion of the results of the study are presented. The possibilities of taking into account the parametric, signal and coordinate uncertainties of mathematical models for the coordination of target designation with the planning of anthropomorphic ship movement control are shown.

The expediency of organizing the motivational behavior of autonomous intelligent mobile systems focused on solving various complex problems in unstable a priori undescribed problematic environments is substantiated. That need is due to the fact that this type of goal-seeking behavior allows intelligent systems of various purposes to ensure safe and efficient activity in unstable operating conditions. A model of knowledge representation of autonomous intelligent mobile systems is proposed without regard to a specific subject area and built on the basis of active fuzzy semantic networks. In such networks, vertices are labeled with slots that have many characteristics, which enables in the process of goal-seeking activity to label active vertices with objects and events occurring in the problematic environment that meet their requirements. Edges in such networks are labeled with generalized fuzzy values of corresponding conditions that must be met in a problematic environment between an autonomous intelligent mobile system, various objects, and occurring events. This model of a formalized description of various situations and subsituations of the problematic environment allows intelligent systems to adapt to a priori undescribed operating conditions and, on this basis, automatically plan goal-seeking activities under conditions of uncertainty. To control the motivational behavior and self-organization of autonomous intelligent mobile systems, tools have been developed intended to identify threats to productive activities that arise in a problematic environment. A generalized production-based model of knowledge representation has been built without regard to a specific subject area, which allows intelligent systems to quickly respond to various types of security threats that arise in a problematic environment and maintain operability in the process of performing complex tasks. In conclusion, one of the effective ways of further development of the proposed principle of organizing the safe and efficient operation of autonomous intelligent mobile systems is outlined, which is related to the management of their collective activities in the process of performing a complex task with changes occurring spontaneously in a problem environment, accompanied by the emergence of various types of threats in it that prevent their effective operation.

Currently, various types of robots are increasingly being used to solve different tasks. Most often, these are mobile robots that move on the earth’s surface performing the assigned tasks, in particular, they are four-wheeled robots similar to a car — autorobots. As control objects, the robots are essentially nonlinear, which requires the use of nonlinear methods for the control system design. At the same time, it is difficult to apply traditional methods for designing nonlinear control systems due to a complex type of nonlinearities in the equations of mobile robots and, in particular, autorobots. In this paper, the design problem is solved using a discrete-continuous quasilinear model, which is created on the basis of the nonlinear differential equations in the Cauchy form. Due to the great complexity of the nonlinearities of the autorobot equations, the corresponding quasilinear model is created by the numerical method. The quasilinear model obtained by this method is discrete-continuous and controllable, moreover, its state variables are measurable. The discrete autorobot control system includes two practically independent control subsystems: longitudinal speed and turns. A discrete PI control law is used to control the speed, and the discrete turn control subsystem is designed by the method of desired dynamics. The resulting autorobot control system provides a stable movement along the trajectory, which can be set as a function of time or as a function of the coordinates of the moving autorobot’s position.
The suggested approach can be used to design control systems for nonlinear objects of various purposes with complex differentiated nonlinearities. However, the design problem has a solution if the corresponding discrete-continuous quasilinear model of the object is controllable, and the state variables are measurable.

The article discusses the optimization of the control process of an unmanned vehicle. Currently, there is an active development and use of unmanned vehicles. There is a practice of using unmanned shuttles in closed areas (conferences, forums, etc.). The use of cars with automated control in urban conditions and on rough terrain is being tested. In this regard, it is important to develop control algorithms that allow solving problems of car control in real time under the influence of disturbances and the presence of obstacles. With the development of technology and an increase in computing power, it becomes possible to use optimal control algorithms that allow you to achieve better results when the terminal conditions are met, minimizing energy costs. This paper shows the solution of the problem of optimal control of an unmanned vehicle in the presence of a penalty function, measurement noise and disturbances from incomplete data using the separation principle. The problem of optimal control in a deterministic and stochastic setting is solved using an algorithm with a predictive model with a generalized work functional. The effectiveness of applying the Kalman filter is shown depending on the different intensity of measurement noise and different vehicle speeds. The results of numerical modeling are presented, showing the possibility of using the proposed algorithm to control an unmanned vehicle under various initial and final conditions. The developed algorithm has been successfully applied to bypass a moving object.

The problem of increasing the traction and dynamic properties of mobile robots with walking propulsion devices is considered. The interdependence of the traction forces developed by the propulsion devices and the forces of resistance to the movement of robots, due to their interaction with the environment, is analyzed. A mathematical model is proposed based on the quasi-static nature of the robot’s movement and taking into account the static uncertainty of the problem. Static indeterminacy is due to the presence of propulsion devices on each of the sides and interacting with the supporting surface in the amount of more than two. A feature of the solution is also taking into account the gait and schedule of the robot’s movement, which characterize the time sequence of the propulsion devices being in the phase of interaction with the supporting surface and in the phase of transfer to a new position. The gait is also characterized by the mode coefficient, which is the ratio of the time the propulsion device is in the stance phase to the total time of the cycle of its movement. An optimality criterion is introduced on the basis of which the design perfection of the propulsion devices and the place of their installation on the robot is evaluated. The optimality criterion consists of two indicators: the value of the maximum traction force and the average force of resistance to movement. The tractive force is assumed to be proportional to the sum of the maximum normal loads acting on each propulsion device unit, and the resistance force to the squares of the same loads. Simulation modeling has been carried out, proving the dependence of the magnitude of traction properties and the forces of resistance to movement on the location of the propulsion devices. Two systems of vertical arrangement of the points of suspension of propulsion devices were compared. It has been established that a sufficiently small change in the vertical coordinate of the suspension point of even one propulsion devices has a noticeable change in the maximum traction forces and movement resistance forces. It is concluded that by adjusting the vertical position of the propulsion devices foot relative to the robot body, it is possible to control the traction properties and movement resistance, as well as the importance of the positioning accuracy of the foot of the propulsion devices walking mechanism during movement.

In this paper the problem of increasing the accuracy of inertial navigation system of an aircraft in the absence of high-precision additional information sensors, such as GPS, has been studied. It is proposed to install angular acceleration sensors on the gyrostabilized platform of the inertial navigation system. The use of signals from the angular acceleration sensors made it possible to generate correction signals for the inertial navigation system. Correction algorithms have been developed in the structure of the inertial navigation system and in its output signal. The effectiveness of the developed algorithms has been demonstrated using semi-natural simulation with the Ts060K inertial navigation system.