The paper is devoted to the study of the influence of the procedure of formation of the knowledge base on the characteristics of the fuzzy logic controller (FLC). The source of information in the construction of fuzzy controllers is expert knowledge. Constructing of membership functions of terms of the input and output linguistic variables and the fuzzy matching between the antecedent and consequent spaces is formalizes this knowledge. This entails loss of information, because there is no unique translation from a qualitative entity to a quantitative representation except for some special cases. Therefore, as a rule, it is necessary to correct the knowledge base and parameters of algorithm of fuzzy inference in order to achieve the required quality of the system. The main problem of the organization of the correction procedure lies in the complexity of purposeful changes of certain parameters of the algorithm, since the relationship between the settings of FLC and its dynamic properties are still not well studied. Thus, the task of complex research of FLC, allowing an analysis and synthesis system from the standpoint of the classical theory of automatic control, is relevant. The algorithm of the fuzzy inference consists of several stages such as formation of a knowledge base, fuzzification, aggregation, activation, accumulation and defuzzification. Creation of a knowledge base is perhaps the most critical step because it requires the involvement of experts and formalizing their knowledge to further computer processing. The formation of knowledge base in the algorithms of fuzzy inference based on relational models is discussed in the paper. We suggest considering three typical models of decision-making in compiling the rule base is "strong", "uncertain" and "balanced" - and estimate their influence on the control surface of FLC and the transient response of the fuzzy control system. We concluded that, from the point of view of influence on the dynamics of fuzzy control systems, specific analytical description of the membership functions is not essential; however, their degree of tension-compression has a significant effect on both the control surface, and system behavior. The conducted research allows goal-seeking tuning of FLC, providing required quality metrics of control system.

The article deals with the problem of object control in order to determine the parameters of the moving target trajectory. We consider the conditions under which a locality map is unknown and there are no external landmarks. There is no available target position information except for non-directional measurements of the distance between an object and a target. Such conditions can arise, for example, in the case of using Wi-Fi or radio signals, when by means of a signal strength the distance to a signal source can be determined, while the direction in which a signal source is located remains unknown. A general statement of the control problem is given. The solution of the problem in a particular case of rectilinear motion of a target and a piecewise linear motion of an object is proposed. It is proved that the estimations of the parameters of target motion can be obtained by using not less than 7 measurements of distances to a target. In addition, in the measurement process, an object twice has to change the direction of its motion at least two times. An immovable object cannot determine the trajectory of a target. The method of object control which enables to determine the parameters of a target trajectory is proposed. The conditions of control existence are obtained. It is also shown that in a special case of a parallel movement of a target and an object not less than 4 measurements are needed to determine target trajectory parameters. The problem solution time corresponding to different methods of solution is estimated. The results of research can be used in the robot control problem, particularly, in the problem of robot gathering. The presented approach gives an exact solution under condition of high accuracy of distance measuring. In practice, the accuracy of measurements is influenced by a large number of factors. Therefore, a challenging problem is to study the dependence of the target trajectory parameters problem solution on the accuracy of distance measurements.

A lot of works devoted to the problems of approximation both continuous and discrete signals. But, in spite of this, important practical problems arise, especially in the field of Informatics and applied mathematics, which require development and testing of new approaches of experimental data approximation. First of all it is connected with the fact that data processing is conducted in the majority in real time. Besides, strict conditions are laid down on the developed algorithms: they must be constructive in programming for optimal performance and real-time problem solving. Approaches to the approximation of the continuous processes are proposed, but on their basis it is easy to derive discrete counterparts. As a rule, in applied tasks signals into discrete moments are measured. Thats why differencing schemes can prove to be more effective for use. When using the proposed algorithms the questions of analysis of convergence of the following iterative procedures arise. It can be done on the basis of Lyapunov methods and special criteria of stability. Adaptive signals approximation models in structural-parametric classes of functions are considered. Approximation is made by using an iterative procedure in the form of an ordinary differential equations system. In order to confirm the effectiveness of the proposed approach, software for simulated examples and real problems testing was developed. Conditions for the convergence of the iterative scheme for approximating signals, which are based on Lyapunov stability theory, are given. Suggested methods can be effectively applied for the detection of chemical and biological analysis of the spectral data. To demonstrate the effectiveness model examples for the approximation of the continuous signals are given.

The article investigates the features of mobile mini-robots (MMR) - man-portable small-sized robots, whose general dimensions are measured by several tens of centimeters, and the weight does not exceed 15 kg. When creating such robots, the main task is to ensure their functioning in indeterminate environment characterized by obstacles commensurate with or exceeding the robot's own dimensions. A study of the theory and practice of the creation of wheeled and tracked vehicles and mobile robots for various purposes shows that the existing methods of calculation and the approaches used to create them can not be just formally transferred to small-sized MMR transport systems that have a number of features that distinguish them from larger analogues. The paper investigates and substantiates the features of MMR's transport systems in terms of approaches to the design methods and mathematical description. Among such features are: small size of all elements of the driving and locomotion components, causing differences in the nature of interaction with the supporting surface; features related to the need for locomotion in an environment with macro-obstacles; the need for more accurately account for internal losses in the elements of the transport system, which begin to play an essential role relative to useful forces. The results of structural synthesis of the MMR transport system with a reconfigurable chassis are presented. The mathematical and computer models of the transport system is being constructed in two configurations: tracked and wheeled. The complete computer model of the transport system includes a mathematical description of such units as: power source, electric motors and reduction gears of traction drives and drives of chassis geometry reconfiguration mechanisms, chassis in tracked or wheel configuration. The study of the model of the transport system is considered in interaction with the surface with the specified characteristics and geometric configuration. The results of experimental studies of the linear motion of the MMR's transport system on inclined surfaces under different load conditions are presented. The obtained experimental and calculated data are compared. The revealed features of the MMR transport systems and the methods of constructing computer models taking into account these features made it possible to increase the accuracy and adequacy of the MMR motion simulation in comparison with the known approaches used in the case of larger systems.

The article deals with control of a robot with three omni-wheels. The feature of this robot is the triangular platform with a right angle. The steering function is of special interest of the paper. The explicit formulae of moments applied to the wheels are obtained for the robot's movement along a specified trajectory for two particular cases. The first is forward motion, when the robot does not turn during the movement. The second is the tangential movement to the selected curvilinear trajectory, when the robot rotates according to the curvature of the trajectory. The purpose of the study is as follows. A group of described robots can implement a transport system with a different configuration of a common transport platform, for this, the robots connecte by the sides (ribs) of their bodies. In order to form a common platform - for example, a rectangle, or a rhombus, and it is required that the body of the robot agent has a right angle. We note here that, from a general point of view, the problem of connecting triangles to a common given figure (corresponding to transporting thing) is the task of tiling the plane, or part of the plane, with a repeating "pattern" [9], which is also called the tessellation, packing or the problem of parquet (see also [9, 10]). It is known that for triangular tiles this problem has a solution.

In this paper the authors describe the experiment, which consists in studying the motion of the mobile robots moving in the convoy type formation, including one leader-robot and several follower-robots. The components of the educational robots and their sensor devices including Hokuyo urg-04lx-urg01 scanning laser rangefinder (only the leader-robot has it) are introduced. A distributed control system of the robots in ROS (Robot Operating System) is described, at the same time the functions of each node of the robots are presented in detail. The authors describe the SLAM algorithm of the leader-robot and its computational process in practice, and simultaneously the algorithm of the trajectory planning in real-time is described briefly. The authors present the PID controller for DC (direct current) motors and discuss the performance of DC motor according to its step response in the loading conditions. The motion control algorithm of the follower-robot is also presented. Experimental results including the map of environment and the trajectory of robots on the map are provided, which demonstrate effectiveness of the used algorithms. The authors analyze the reasons for discrepancy in the trajectories of some robots in a group, for example, different positioning accuracy of the leader-robot and follower-robots, delays in communication, insufficient performance of the actuator. The further research direction consists of two aspects: firstly, the coordinated movements of the drone and a group of mobile robots moving in the convoy type formation; secondly, logical control of a group of robots when changing the formation topology. The control mechanism ensured the execution of various convoy behaviors, for example, convoy separation.

In the framework of study the implementation of social behavior models in group robotics systems, the question of the arrangement of animat visual system is of high importance. In this paper we propose the structure of the so-called visual analyzer, simulating the work of the perception system of the animat. The direction of modeling animated ants (artificial animals) has been chosen in the robot society design. The system requirements have been developed: the ability to recognize indiViduals, determine their number in the field of View, giVe information about the change of its quantity, and distinguish its poses. The system was implemented in C++ using technical vision and graph analysis libraries. The video stream passes through three consistent processing stages: selecting attributes, recognizing simple and complex objects, recognizing scenes. The method of recognizing objects is realized by decomposing their features, the algorithm for recognizing complex objects and scenes is based on the search for isomorphic subgraphs in the system of technical vision. The principal possibility of using such a system for recognizing models of animats of different kinds, scenes with participation, formation of simple kinoptical reactions is shown. A software and hardware complex designed for installation on a mobile robot is described. Models of animated ants were simplified for the experiments. This was done to test the applicability of the approach. After testing the system on the drawn abstractions, the system was tested on real images received from the camera. Further development options for the system are indicated.

A criterion for the degree of observability of state variables in linear time-varying systems is considered. The qualitative characteristics of the observability of the errors in inertial navigation systems are studied with a change in the aircraft flight altitude, the step of computation and in depending with the type of inertial navigation system, that are characterized by the values of the mean frequency of the random change in the drift of the gyroplatform. The results of simulation of navigation system errors, their degree of observability and estimation by the non-stationary Kalman filter are presented. The problem of determining the achievable accuracy of corrected inertial navigation systems in aircraft is investigated. In the models of the estimation algorithms, different values of the average frequency of the change in drift of the gyroplatform are used. A method for studying the achievable accuracy of corrected navigation systems has been developed, which makes it possible to make an informed decision on the use of the system in the design of the aircraft avionics. Based on the analysis of the state variable observability characteristics of navigation systems, it can be concluded that the accuracy of the estimation is dependent on the variable parameters of the inertial navigation system error model.

The authors consider a motion of a spacecraft with small aerodynamic-mass asymmetries in the rarefied layers of the martian atmosphere at small values of the angle of attack. As is known, that small aerodynamic-mass asymmetries of the spacecraft can lead to loss of stability in the angle of attack, caused by the influence of resonant phenomena. The purpose of this study is to obtain a condition of the stability of the relative motion of an asymmetric spacecraft with respect to the angle of attack in a rarefied atmosphere of Mars. The application of the averaging method makes it possible to obtain the second-approximation equation for the angle of attack which form is close to the linear homogeneous equation. The averaged equation allows us to formulate the required stability condition. The theoretical significance of this study is the condition of the stability of the motion of a spacecraft with respect to the angle of attack as solid body in a rarefied atmosphere. The presented condition of the stability was used at research of the motion of the conical spacecraft with respect to the angle of attack in a rarefied atmosphere of Mars. In this case, the mass-inertial parameters of the spacecraft were similar to those of the descending capsule "Schiaparelli". Of practical interest is the use of the obtained stability condition in the analysis of the relative motion of asymmetric spacecraft in the rarefied layers of the atmosphere of the terrestrial planets.