This paper presents a novel approach to finite-time stabilization of dynamic systems, differing from classical nonsmooth solutions. The problem of finite-time control for linear dynamic plants is addressed, including the case with external disturbances, under strictly predefined constraints on the output signal trajectories starting from the initial time instant. The solution is presented in an order of increasing complexity, beginning with the scalar unperturbed case and proceeding to the general case of an arbitrary-order linear system with unknown bounded external disturbances. The imposed constraints can be motivated either by technical requirements on the plant behavior or empirically, according to preferred transient performance specifications. It is shown that in the controller synthesis procedure, one can define the form of output constraints so that the finite-time stabilization condition for the controlled variable is satisfied using bounded control input. The plant state is assumed to be known, with initial conditions either exactly known or belonging to a known bounded set; controllability and observability conditions are fulfilled. The proposed method is based on the idea of applying a functional transformation to the output signal, which allows reformulating the original constrained problem into an unconstrained stability problem with respect to a new variable. It is proven that such a transformation exists and that its inverse ensures the solution of the original problem while maintaining bounded control signals. The resulting control algorithm is compared with known results in finite-time control via computer simulations. It is demonstrated that the proposed method provides comparable regulation performance in terms of control effort, while offering greater flexibility in choosing closed-loop system trajectories.

The article proposes a solution for developing a steam pressure control system in the common steam main of the Blagoveshchensk Thermal Power Plant with automatic selection of parameters based on a genetic algorithm. A possible steam output of a boiler control option at a power plant is described. It involves the interconnected operation of five key components: the main controller — the upper-level control system; the heat load controller, mill loading controllers, primary air and air mixture controllers — the subordinate control loops. The main controller operates under conditions of significant uncertainty and impacts the performance of the entire heat and power generation system. The mathematical model of the control plant was obtained using a passive experiment based on an annual data on the operation of the BKZ(E)-420-140 boiler. The control plant can be represented by a system with a constant delay, changing parameters and structure in various operating modes, with a relative degree of the transfer function greater than or equal to unity. In this article we implement a procedure for the complete synthesis of the control system using: two equivalent filter-correctors — a setting and an output one, an implicit reference model, an adaptive-robust control algorithm synthesized based on hyperstability criterion (at the structural synthesis stage), and a genetic algorithm (at the parametric synthesis stage). At simulation the performance of two control algorithms was compared: the developed adaptive-robust control algorithm and the classical proportional-integral control algorithm.The results obtained in this article can be used to ensure the efficiency of large thermal power systems.

In the first part of the article, the authors proposed a comprehensive method for solving the problem of synthesizing combined position-force control systems (CS) for electric drives (ED) of multi-link underwater manipulators (MUM) mounted on autonomous underwater vehicles (AUV) operating in mode of landing on a seabed or on work sites, followed by rigid fixation of these AUV using special devices. To do this, the following subtasks were successively solved. First, the synthesis of self-adjusting regulators was performed, ensuring the stabilization of variable dynamic parameters of the ED at a given nominal level. Secondly, a synthesis of observers with a variable structure has been performed, which allows using only measurements from angle sensors of the ED output shafts when creating MUM CS. And thirdly, the synthesis of position-force regulators has been performed, which, by minimizing the selected quadratic cost function, make it possible to ensure accurate working out of the specified movements of the ED output shafts while maintaining the required moments on them. The second part of the paper describes the operation of the MUM position-force CS, which makes it possible to create the required force effects with its work tool on the surface of work objects during its movement along the trajectory. Moreover, this CS ensures the successful performance of force operations in the presence of continuously changing and previously unknown parameters of the interaction of the MUM links with a viscous medium, including the velocity of the liquid flow, viscous friction and the MUM links added masses and moments of inertia. The operability and effectiveness of the synthesized position-force control systems is confirmed by the results of computer modeling, the analysis of which made it possible to determine the conditions under which it is necessary to accurately take into account the various features of the impact of a viscous medium on the MUM links when performing complex technological operations.

We consider the problem of predicting potential collisions between two vehicles moving parallel to each other and subject to various disturbances. The algorithm for predicting the critical event (CE) of a collision is assumed to be implemented in real time, using onboard computers and sensors. We demonstrate that for linear models with Gaussian disturbances, such algorithms can be constructed based on the large deviation principle and the Wentzel-Freidlin CE quasipotential, along with its prototype in the form of a curve—the CE profile—leading from the attractor to the CE. This procedure is demonstrated in our article using the example of monitoring the relative motion of two autonomous underwater vehicles. As the applications of autonomous vehicles, such as unmanned aerial vehicles and unmanned surface and underwater vessels, expand, the need for models beyond those covered by traditional systems with Gaussian disturbances grows. In this paper, we attempt to use jump-type random processes of the Poisson type and birth-and-death processes as a disturbance model. Such models were considered in large deviation analysis problems by Schwartz and Weiss (A. Schwartz, A. Weiss). We use this approach to solve our forecasting problem based on the KS-profile or its analogue. We are talking specifically about an analogue, since there is no attractor in this case. Using the same problem for two spacecraft, but without Gaussian disturbances, we demonstrate that the curve connecting the equilibrium state and the KS fully corresponds to the role of the KS-profile in the forecast algorithm, although the equilibrium state in this case is not stable. Now we can formulate the problem of large deviation forecasting based on the KS-quasipotential and its preimage for a linear system with both Gaussian and Poisson disturbances, but this is the subject of future papers.

Quaternion solution of the problem on optimum control of a turn of a spacecraft (as solid body) from an arbitrary initial into an assigned final angular position taking into account the degree of loading of the construction is considered. The solved problem differs in use of new criteria of optimality. Optimization of control process is based on the combined functional of quality that combines in a given proportion time spent on spacecraft rotation and the integral of quadratic form relative to angular velocity (this quadratic form reflects dynamical loads on spacecraft construction). The proposed control method for spacecraft rotation improves conditions of turn in sense of minimum loading of spacecraft construction. Analytical solution of optimal control problem is obtained on the base of maximum principle with use of quaternionic models of the solid body motion controlled. The properties of optimal motion of a spacecraft are revealed in an explicit form, the structure of optimal control is specified. It is shown that degree of spacecraft construction loading during reorientation maneuver does not exceed the required value which is determined by coefficients of the minimized functional; and time of rotation is minimum also (as it is possible under given value of dynamical loading). To construct optimal control program, formalized equations and calculation formulas are written. Analytical equations and relations are presented for finding optimal control. Key relationships determining optimal values of the parameters of control algorithm for spacecraft turning are described. In the case of axially symmetric loading of spacecraft construction, solution to the problem of spatial reorientation is obtained in closed form. A numerical example and results of mathematical modeling that confirm the practical feasibility of the developed method for control of spacecraft reorientation are given. Significance of the investigated problem of spacecraft optimal control is caused that often, allowable loading of spacecraft board and its elements of construction is significant restriction.

This paper addresses the problem of developing a control system for a group of multirotor unmanned aerial vehicles (UAVs) collaboratively transporting a payload. The importance of this problem arises from the growing interest in cooperative UAV systems for logistics, industrial automation, and rescue operations. The configuration of UAVs under consideration is characterized by the payload being attached to a rigid frame and each UAV connected to it through a spherical joint, forming a mechanically coupled system. Such a configuration is of particular interest for studying complex dynamical systems with mechanical couplings and for developing effective methods of cooperative control. To support analysis and controller design, a mathematical model is proposed that describes the dynamics of both individual UAVs and the coupled system as a whole, including the interaction between the aerial vehicles and the payload. Based on this model, a control algorithm was developed to ensure stable and coordinated motion of the UAV group along prescribed trajectories while maintaining the required payload orientation. The study demonstrates that the proposed algorithm stabilizes the UAV system under external disturbances and during motion along complex flight paths, while also demonstrating scalability to larger UAV groups and various payload configurations. Simulation results validate the effectiveness of the developed control system. The findings can be applied in the design of real-world cooperative transport prototypes and contribute to the advancement of cooperative UAV control methods. The presented results hold practical significance for logistics, delivery of goods to hard-to-reach areas, and the collaborative use of UAVs in various application fields. Moreover, the proposed approaches may serve as a foundation for further research in the field of cooperative unmanned system control.