Article deals with the problem of constructing a hybrid adaptive-robust repetitive control system for one class of a MIMO plants which operating with structural and parametric uncertainty and constant action of an external disturbances. A procedure for structural and parametric synthesis of a control system is proposed. At the structural synthesis stage with the help of hyperstability criterion the authors are developing a decentralized combined controller. After that using the method of continuous models the authors are built a continuous-discrete control system. The main feature of a control loop structure synthesis stage is to ensure the validity of V. M. Popov’s integral inequality. For this purpose, the authors determining the special estimates that guarantee positivity for nonlinear non-stationary part of the system under consideration. At the system’s parametric synthesis stage the authors are use the environment of engineering and technical calculations "Matlab — Simulink" to perform optimization modeling of the continuous and hybrid repetitive control systems. This action is carried out using one of the functional optimization methods — a genetic algorithm. Authors use the criterion of generalized operation for automatic control systems to form the functionality for assessing the quality of the proposed system. At the simulation stage initially for continuous repetitive system it was searched its controller parameters which ensure the minimum value of the specified functional. Then, with a given discretization step of the control loop elements, the hybrid periodic system was optimized in order to improve the quality of its operation.

The work provides a comparative analysis of the properties of optimal control systems for linear stationary single-channel objects, the distinctive feature of which is that the numerator polynomial of the object’s transfer function is Hurwitz. Systems are synthesized by two main methods of the theory of analytical design of optimal regulators (ADOR) — methods the Letov-Kalman and A. A. Krasovsky, which use quality functionals based on an integral criterion containing only two terms: the square of the object’s control signal and the square of its output coordinate with a weighting coefficient q . The limiting properties of the synthesized systems are studied at q q → ∞ . The common known property of these systems, for brevity called the Letov-Kalman and Krasovsky systems, is the property of their stability at the limiting value of the weight coefficient and, accordingly, an infinitely large increase in the total gain of these systems, which for them ensures obtaining a given value static control error. Other analyzed properties of the systems turned out to be significantly different and even mutually opposite. For example, at limiting values q q → ∞ , the coefficients of the optimal Letov-Kalman controller do not depend on the parameters of the object, while the coefficients of the Krasovsky controller, on the contrary, are determined exclusively by the parameters of the object. We also note that, unlike Letov-Kalman control systems, the time of transient processes of Krasovsky systems at q q → ∞ cannot be reduced less than a certain finite value, despite the absence of restrictions on the magnitude of the control signal. In this work, with the aim of combining in one control system the indicated positive, but contradictory properties of the analyzed systems, the so-called combined ADOR method is proposed. Its main idea is to represent the control signal of an object by two terms, which are then sequentially determined by using two main methods of the ADOR theory, and at the first stage of synthesis there is control using the Letov-Kalman method, which ensures the direct application of the combined synthesis method to unstable objects. This synthesis method, when using a quality functional with one variable weight coefficient, allows for the considered control objects of order n m 5 to design systems with given values of the static error and control time, for which overregulation does not exceed 5.2 %.

Automatic design methods focus on generating the collective behavior of swarm robotic systems. These methods enable multiple robots to coordinate and execute complex tasks in their environments autonomously. This research paper investigated two prominent methodologies: particle swarm optimization (PSO) and reinforcement learning (RL). A new comparative study was conducted to analyze the performance of a group of mobile robots through extensive experimentation. The objective was to produce navigational collective behavior through unknown environments. These environments differ in complexity ranging from obstacle-free environments to cluttered ones. The core metrics of the comparison include the time efficiency of individual robots and the overall swarm, flexibility in pathfinding, and the ability to generalize solutions for new environments. The obtained results from the Webots simulator with Python controller suggested that RL excels in environments closely aligned with its training conditions. RL achieved a faster completion time and demonstrated superior coordination among individual robots. However, its performance dips when facing untrained scenarios necessitating computationally expensive retraining or structural complexities to enhance adaptability. Conversely, PSO showed commendable consistency in performance. Despite its slower pace, it exhibited robustness in various challenging settings without reconfiguration.

Based on the generalization and analysis of data from foreign and domestic studies, the article discusses the position that in some cases robotization poses threats proportional to its benefits. The problems and risks caused by the introduction of robotics and their manifestation in various spheres of human activity are outlined. It is noted that the downside of the successful development and use of robotics is the emergence of new types of hazards caused by robots getting out of control or intentionally using them for illegal purposes. The main problems associated with the use of robots are the following: conducting industrial, domestic and other types of espionage, violating traffic safety (air, automobile, marine, etc.), preparing and carrying out terrorist acts, as well as conducting other types of activities dangerous to people and the environment. The structure of the system for countering dangerous robotic complexes for various purposes (RTK VP) and the composition of its main components are proposed, the close relationship of tasks is highlighted, on the one hand, to ensure protection, and on the other, to organize counteraction to RTK VP at the stage of forming tactical and technical requirements for samples of newly created promising robotics products and determining their technical appearance. The analysis of RTK VP as objects of counteraction is given and the main elements of their vulnerability, including the vulnerabilities of groups of robots, are clarified. The probable variants of the illegal use of RTK VP, the causes of their occurrence, the features of their manifestation and the expected consequences are analyzed. The classification of possible ways and means of countering dangerous RTK VP is carried out, and the rational sequence of their implementation is reasoned. A formalized description of the task of countering dangerous RTK VP and a model of the counteraction system are presented. As an indicator of the effectiveness of the counteraction system, it is proposed to use the correspondence of actual and required damage to the object of counteraction in the dynamics of change. Based on the analysis of the features of the counteraction process, a methodological approach to creating a model of a promising anti-RTK VP system is proposed.

One of the important tasks that can be performed by quadrotors is the transportation of various payloads. If the load is suspended from the quadrotor and can move relative to the quadrotors body, this motion must be taken into account in the control system, in particular, in order to suppress and prevent unwanted oscillations of the load. In the present paper, a mechanical system is considered that consists of a quadrotor and a load suspended to it with a weightless rod. It is assumed that the cross-sectional area of the load is large enough so that the aerodynamic forces acting on it cannot be neglected. It is known that for a number of shapes of payload casing, this aerodynamic force is not reduced only to the drag force, but also contains a component orthogonal to the drag force, that is, the lift force. In order to these forces, the quasi-steady approach is used. At the same time, accurate information about the aerodynamic capabilities for each particular payload is, generally speaking, not available. However, it is known that the values of aerodynamic coefficients for a fairly wide class of body shapes are lie in a specific range. Here we discuss the problem of developing the quadrotor control that would ensure robust stabilization of the ascent and descent of the system in the conditions of incomplete information about the aerodynamic load. A method is proposed for constructing the quadrotor control for robust stabilization of uniform vertical ascent and descent of the system as a whole. It is shown that this control ensures stabilization of the target mode within a fairly wide range of system parameters. Restrictions on the target speed of quadrotor motion are determined, violation of which makes the robust stabilization impossible.