The advanced statement of the optimal control problem is presented. The difference between the extended setting of the problem and the classical one is that the model of the control object consists of two subsystems, a reference model, which generates an optimal motion path and a dynamic model of the control object with a system for stabilizing movement along the optimal trajectory. In the problem, it is necessary to find a program control function whose argument is time and a stabilization system function whose argument is the deviation of the state vector of the control object from the optimal program trajectory. The task has many initial conditions, one of which is used in the search for software control, and the rest for the search for a stabilization system. The control quality criterion is defined as the sum of the original quality criterion for all specified initial conditions. The procedure for trans forming the classical setting of the optimal control problem to an extended setting based on the refinement of the problem for its practical implementation is presented. To solve the extended optimal control problem, a universal numerical method is proposed based on a piecemeal linear approximation of the control function using evolutionary algorithms and symbol regression methods for structurally parametric optimization of the stabilization system function. An example of solving an extended optimal control problem for spatial motion by a quadcopter, which should conduct reconnaissance of a given territory in a minimum time, is given.

The paper discusses a pulse voltage converter with a high switching frequency of a switch with an analog control system capable of providing the required conversion frequencies. The pulsed voltage converter under study has a control system with a proportional-integral regulator, implemented on the basis of a general-purpose operational amplifier. Operational amplifiers with such parameters are widely used as part of modern control microcircuits for pulse-width converters. In this work, the influence of the technological spread of the gain of the operational amplifier on the dynamics of the converter is studied. The studies were carried out both using the developed nonlinear dynamic model of the system, and using a small-signal open-loop dynamic model. A technique has been developed for selecting the parameters of the controller, taking into account the technological spread of the gain of the operational amplifier based on a nonlinear dynamic model. An analysis of the results obtained using a nonlinear dynamic model showed a significant influence of the specified spread on the dynamics of the system, even when the cutoff frequency of the open-loop control system is significantly removed from the frequency of the high-frequency pole of the operational amplifier. This must be taken into account when designing pulse voltage converters with analog control systems, namely, when choosing the parameters of regulators. It is shown that with the optimal values of the controller, selected according to the proposed method, the effect of technological gain spread on the frequency characteristics of an open circuit in the low-mid frequency regions is minimal, which indicates the effectiveness of the method.

The problem of constructing a control system for underwater vehicles is relevant due to the growing scope of their application, including acting in autonomous modes. Moreover, it is required to have an ability to use these devices both in quasi-stationary and close to pulsed mode. Thus, it is necessary to develop a mathematical model of vehicle’s dynamics for autonomous operations of an unmanned underwater vehicle (UUV), which would describe the dynamics of motion as close as possible to the real one. The current paper is denoted to the identification problem of UUV model. A comparative analysis of UUV dynamics models was carries out, among which a model that uses added masses of liquid to describe hydrodynamic forces was selected. For UUV of a symmetrical streamlined shape with a small displacement and performing plane movements, it is assumed that the influence of the attached fluid manifests itself in the form of an increase in mass and moments of inertia. A control system designed to stabilize the device was built on the model, after which it was adjusted on the existing sample of the UUV. The considered theoretical and experimental methods for identifying the dynamic model of the UUV turned out to be competitive with each other and gave comparable results for calculating the added masses. The carried out full-scale experiments confirms that the proposed method for estimating the added masses is quite effective for constructing a control system designed to operate in a given motion mode.

The regular walking (up or down) on a ladder (or an inclined plane) of a human operator with an exoskeleton of the lower extremities, carrying an additional load, is considered. It is assumed that the exoskeleton is equipped with high— torque electric motors without gearboxes — in the knee and, perhaps, in other joints. The modes of flat, single-support quasi-comfortable walking are considered, in the implementation of which both electric motors and a human operator with experience working with this mechanism participate. The nominal pattern of movement associated, in particular, with the circumvention of obstacles (steps) with a portable foot and placing it in the support position at the next step is set and supported by a person. The task of the algorithm controlling electric motors is to partially reduce the load that falls on the operator. From the point of view of minimizing human energy consumption, the supporting leg and especially its knee joint are the most important. In the knee joint of the supporting leg, an algorithm for controlling the corresponding electric motor is proposed, based on measuring the vertical reaction force of the support in combination, perhaps, with the angle in the knee and angular velocity. Feedback is constructed, the "successful" values of the coefficients of which can be predicted using a kind of least squares method along the nominal mode. The task of this feedback is actually the distribution of the load that falls to the share of the operator and the system of electric motors. It is shown by using numerical research methods to what benefits in terms of energy consumption in one regular step this can, in principle, lead. This principle of feedback construction extends further to the hip and ankle moments of the supporting leg. It is assumed that the portable leg is controlled everywhere only by the human operator’s own efforts, the absence of gearboxes allows this to be done without much friction loss, which in turn affects the smallness of energy costs and for the operator.

The article considers the problem of determining the orientation of mobile transport robots, which are now actively used in almost all areas of industry. They make it possible to intensify production, free personnel from performing routine operations, and exclude the influence of the human factor from work. Based on the analysis of various variants of active orientation methods involving the use of binocular video systems installed on the vehicles themselves, it is proposed to use a passive orientation detection system. It includes a single stationary monocular video system, the replacement of onboard video systems on mobile robots with simple radiation sensors, as well as the use of anchor points in the area of their movement. The order of choice of anchor points in solving the problem of orientation of a mobile transport robot using a monocular video system, in particular for a rectangular interior space, is considered. Calculation formulas for determining the coordinates of the sensor from the pixel coordinates of its image obtained from a monocular video camera are determined. The general sequence of actions for determining the orientation of a mobile robotic platform is also considered. Unlike active systems, this method makes it possible to significantly simplify the hardware, significantly facilitate the analysis of the current position of the mobile robot and thereby reduce the computational complexity of calculations due to the fact that there is no need to use a complex mathematical apparatus. It is being replaced by simpler two-dimensional geometric calculations. This approach, due to the unified management, makes it possible to effectively coordinate the actions of a group of mobile transport robots when they are used together, greatly simplifies the solution of a number of tasks for optimizing the intra-shop movement of mobile vehicles.

The dynamics and control of the KUKA youBot robot, which consists of a mecanum-platform and a five-axis manipulator fixed on it, is considered. A mathematical model of the dynamics of a mobile robot-manipulator has been developed taking into account the design of the mecanum-wheels, multicomponent contact friction, dynamics of robot drives and the mutual influence of the platform and the manipulator. A robot motion control law is proposed that ensures precise movement of the robot to the required position. According to the results of numerical simulation, the operability of the proposed control is confirmed. At the same time, at the end of the transient process, there are high frequency oscillations in the coordinate of the platform geometric platform, the platform heading angle and the angles of the manipulator links. To reduce amplitude of these high frequency oscillations, it is necessary more accurately compensate for the action of gravitational forces. It is shown that due to the mutual influence of the dynamics of the manipulator on the platform, platform displacements occur relative to the initial position. Based on the simulation results, the influence of the design of the mecanum-wheels, multicomponent contact friction and dynamics robot drives, as well as the mutual influence of the platform and the manipulator on the dynamics of the KUKA youBot robot, is shown. Further research involves a more detailed analysis and synthesis of control algorithms within the framework of theories of optimal or adaptive control.