In this article the direct method of synthesis of a robust regulator of the low order is considered. For synthesis robust Н_infinity-regulator of the low order for plant with polytopic uncertainty are using bounded real lemma for linear matrix inequalities and two procedures of projection: 1) the projective lemma for linear matrix inequalities and 2) projection of nonnegative matrixes to reduced space also nonnegative matrixes. At the first stage of design the weakened problem with a convex linear matrix inequality is solved. For performance of not convex rank condition a procedure of orthogonal projection of singular value decomposition of a matrix and by rejection zero singular values is used. The order reduction a regulator is carried out by rejection small singular values. The submitted algorithm of synthesis of the reduced regulator is considered on an example of synthesis of robust regulator for plant with polytopic uncertainty. The plant is a satellite connected by a flexible boom with the sensor package (two-mass system). It is necessary to control angular position of the sensor package on which there is a star sensor and the sensor of angular position of the package, and the actuator control by angular position of the satellite. In view of no rigid connections inconsistency of movements of the actuator and the sensor of angular position of the sensor package takes place, i.e. there is a noncollocated system. Synthesis of a robust regulator for the weak damping plant of the fourth order with polytopic uncertainty is in detail considered. It is shown, that the order of a regulator it is possible to lower with initial the fourth to the second at insignificant deterioration of performance. specifications.

The article discusses the engineering synthesis of discrete-logic control systems for industrial machinery based on the algebra of logic. Given the method of designing new kinds of systems - Firmware discrete logic control systems. Projects of microprogram control systems are created in the instrumental ISaGRAF programming environment using the language of functional blocks FBD. An example of programming of the control system of tool electroautomatics in FBD is given. The main distinguishing feature of the technique of programming discrete-logical systems is that one of the main elements of the high-level language SFS in included in the FBD program. This language, in turn, is taken from microprogramming machines and provides the procedure of consecutive sample of micro-ops from the memory of the computer that allows you to extend the scope of solvable discrete-logic problems in FBD and simplifies their solution. Branching commands and calls to subroutines greatly extend the functionality of microprogram control systems created in FBD. Practical implementation of microprogram control systems for complex objects, like any other management systems, requires solving problems of a private nature arising in the design process. Graphic language of functional diagrams FBD is well suited to solve this kind of issues because functional diagrams created in the ISaGRAF project are illustrative, they are identified with real electronic circuits and therefore they are relatively easily debugged and tested by means of the tool system programming. Ultimately, in ISaGRAF function diagrams are automatically translated into application programs that are loaded in the PLC or industrial computers. Function diagrams created by means of ISaGRAF, can also be used to build discrete-logic control systems based on integrated logic circuits. In addition, functional diagrams can serve as intermediate models for discrete programming-logical systems in the algorithmic language C++.

The object of the study is a mobile robot KUKA youBot. Because of two pairs of mecanum-wheels its platform has full omnidirectional motion capabilities. We consider ideal contact of the wheel rollers and the floor. Under this assumption a complete (kinematics and dynamics) non-holonomic model of the system is developed. The dynamical model of the mecanum-wheeled robot consider mass eccentricity of its platform and linear viscous friction in platform-and-wheel and wheel-and-roller joints. The motion equations are derived using Appel's equations in terms of longitudinal and transversal velocities of the robot platform center, and rotational velocity of the platform. Values of the robot parameters (coefficients in the equations of motion) are not available and have to be determined. Calibration motions, such that all parameters are observable on them and it is possible to decompose identification problem, are designed. The physical robot inputs and outputs are respectively the motor torques and the wheel rotational velocities (for each wheel). Using measurements of them and kinematics and dynamics relations longitudinal, transversal, and rotational velocities of the platform and generalized control forces in the equations of motion are computed. Because of the presence of the unmesaurable accelerations the equations of the robot motion can not be used directly for parameter estimation as a robot estimation model. To avoid the accelerations in the estimation model a filter technique is used. The "inputs" to the estimation model are the filtered versions of longitudinal, transversal, and rotational velocities of the platform. The estimation model "outputs" are filtered generalized control forces. The estimate of the parameters is generated by continuous-time recurrent least squares algorithm (LSM-estimator). Using experimental data measured on series of calibration motions the robot parameters is estimated.

The electric drive control system for the mechanisms with the variable moment of inertia is considered. Uncertainty of the moment of inertia significantly influences the dynamic accuracy of the system and loading disturbance attack. In this connection it is necessary to perform in the electric drives the parametrical adjustment of regulators according to the current resulted moment of inertia to provide invariance of dynamic characteristics of the system to variations of parameters of the regulation object. To maintain invariance of dynamic characteristics to variations of parameters of the regulation object the observer in the form of adaptive model of the actuating electric motor is included in the system. There is performed the synthesis and the analysis of the most acceptable variants of self-adjustment contours as well as search of the additional measures allowing to provide acceptable quality indicators not only in dynamic, but also in static operating modes. Recommendations on the choice of regulators of the basic system contours of the subordinated regulation and the additional devices defining conditions of parameters identification and their definition are given. The researches have shown the expediency of introduction of the unit of processing the input information in the structure of a control system by means of which the sites of movement corresponding to acceleration, braking and movement with constant speed are defined. The results of modeling of the self-adjusted system with variation of the moments of loading and inertia are given. The results of development of the system of control from the self-adjusted model made it possible to give to the basic contour of a control system of the electric drive the new qualities peculiar both to linear and relay systems. The research of dynamics has shown that reaction of the system does not depend on the failures of speed connected with delay of working off by linear regulators of step disturbance from loading and change of the drive inertia moment. To compensate the given disturbances, the system should have power margin and overload capacity of the engine.

The analysis of modern systems of automatic identification of a moving objects condition with use of means of radiofrequency identification is carried out. The requirements to the system for automatic identification of high-speed objects are formulated. An approach to solving the problem of locating a high-speed object based on the use of a complex of radio frequency identification means is proposed, in which a number of passive radio frequency tags are placed along the path of the object, and a radio frequency reader is installed on the object itself. The probabilistic model of the response formation is considered. Based on the analysis of the relative location of the time interval during which the RF tag is in the coverage zone of the antenna and the radiation intervals of the antenna bundles of the probing pulses, the distribution law of the random variables corresponding to the overlapping time of the first and second bursts of pulses is constructed. The sensitivity of the RF tag (the probability of forming a response of RF tag from one bundle of probing pulses depending on the width of the packet) is given in the form of a logistic function with parameters determined experimentally. It is shown that at high speeds of the object with a small width of the coverage zone of the antenna, the appearance of the response of the RF tag is unlikely. The problem of justifying the required width of the antenna coverage zone is formulated, which ensures the formation of a response of the RF tag with a probability not less than a given value. The solution of the problem is illustrated for a complex of radio frequency identification means with known sensitivity parameters of the RF tag and with a required duration of probing and a radiation cycle. For a given values of maximum speed of motion and the required probability of occurrence of at least one response, laws of distribution of mixed random variables - the time of overlapping of the first and second bursts of impulses for different speeds of the object's motion are constructed, which allows us, through statistical modeling, to find the empirical distribution function of the frequency of occurrence of at least one RF tag response. For a given level of reliability, it is possible to construct a quantiles dependence of the required level of the random frequency of obtaining at least one response for different values of speed and the length of the coverage zone, which in turn makes it possible to justify the required width of the coverage zone of the transmitting antenna of the automatic identification system.

At present, special attention is paid to the joint use of modern multifunctional aircraft (MA) and unmanned aircraft (UAV). One of the possible scenarios for interaction between aircraft and UAV is the delivery of goods to a group of moving objects. Effective implementation of the mission assigned to the complex (the aircraft and the UAV group on its board) requires the development of appropriate software and algorithmic support (AS). The article is devoted to the development of a AS, which allows to select the optimal trajectory of a multifunctional aircraft that delivers the UAV and which, in its turn, delivers the goods to a group of moving objects. One of the actual tasks assigned to the aircraft is the delivery of goods to a group of objects moving in difficult-to-reach terrain, also when there is no runway. In described case, when delivering an expensive cargo (for example, high-tech equipment), one of the effective methods is the use of MA carrying a UAV group on board, each at the final stage delivers the cargo to one of the objects. The task is complicated if objects are moving. One of the Mmys to improve the efficiency of solving this problem is to form "n optim"l control tmjectory for " multifunction"l "ircmft to bring it to " cert"in point from which the UAV is l"unched. The "lgorithm of the first st"ge, considering the restrictions imposed by technic"l capahilities of MLA "nd tmffic conditions of group of objects is developed. The results of modeling confirming oper"hility of the developed "lgorithm "re presented.