Analysis of operation of the fuzzy control systems shows that there are many factors influencing the quality control such as a number of terms of the input and output variables, forms of values of the linguistic variables constituting its term-sets membership functions, character of the fuzzy relation between the antecedent and consequent spaces (rule base), etc. By varying these factors we can change the parameters of the fuzzy controller for achievement of a satisfactory quality control. Comparing the fuzzy controllers with the traditional linear ones (such as PD-, PID-controllers, etc.) one can notice that the parameters of the linear controllers can be tuned separately. But, when we deal with the fuzzy controllers, any variation of the above mentioned factors has a simultaneous influence on the integral, proportional and differential components of a signal. This is due to numerous logical interactions between the input variables. Furthermore, the specific character of the aggregation of the sub-conditions in the most commonly used fuzzy inference algorithms based on the triangular norm operations does not make it possible to take into account the desired force of each component. An approach proposed in the paper makes it possible to vary one of the signal components within a wide range, leaving the other components practically steady. This in turn simplifies tuning of a fuzzy logic controller.

Unlike the wheeled and tracked propulsion systems, the walking movers have not yet acquired common design features. Therefore, designers of new walking machines encounter multicriterion tasks. The authors consider definition of the admissible parameters of the walking robots' movers. Step length and area of the bearing surface of the foot are the main parameters of a walking mover. The quality of the design of a walking machine and control of its movement can be evaluated by particular quality indicators of the relative area of the contactless overcome obstacles, step length, average ground pressure, and moderate resistance to the movement. A comprehensive analysis of particular quality indicators will make it possible to obtain a compromise solution. The set task is determination of the parameter values of a walking machine in the form of the dependence of the radius of the round foot of the walking mechanism on the step length, ensuring admissible values of the particular indicators. If the conditions for each of the particular indicators are met, the admissible values of the indicators will be ensured. On the basis of the indicators, characterizing the quality of the walking robots, in the parameter space of the movers an area is built, ensuring the admissible values of the indicators. The obtained area is restricted by the limiting value of the quality criteria indicators of a walking machine, determining the admissible values of a walking mover: foot size and step length of a walking machine. The location of the boundaries and the shape of the area may vary with a change of the limiting values of the indicators. Thus, the quality indicators form the area of the admissible parameters of a walking mover. The proposed method makes it possible to select the desired parameters of a mover at the design stage. It was used in the development of Ortonog walking machine.

Solution to the problems of direct kinematics with the help of dual cosine matrices and Klifford biquaternions is demonstrated on the example of Stanford robot arm. Derivation of the kinematics equations is performed. The obtained kinematics equations and the solution to the direct kinematics problem are used for solving the inverse kinematics problem. The new method of solving the inverse kinematics problem is based on biquaternion theory of kinematics control of free rigid body motion by using the feedback principal. Application of the method reduces solving. Cauchy problem for differential kinematic equations of a manipulator motion. Vectors of the angular and linear velocities contained in these equations are considered as controls. They are formed according to the feedback principal as certain functions of the generalized coordinates so that every chosen end effector position is asymptotically stable in the whole. In this case any particular solution to the differential kinematics equations will aspire in asymptotically stable way to the desired point in the space of the generalized coordinates corresponding to the target position of the end effector of a manipulator. As the result of solving of Cauchy problem for any given initial values of the generalized coordinates from their operational range the generalized coordinates, will finally take the values corresponding to the desired position of the end effector, so that the inverse kinematics problem will be solved. The advantages of the new method are the following: the method gives a unique solution (if there is such) for the chosen control law and given initial position; it ensures high accuracy solutions and high performance; but, above all, it is non-iterative. The paper extends and supplements the results presented in [1, 2].

The article presents techniques for compensation for microsystems' information insufficiency, based on the use of augmented and virtual realities. The constructed system of virtual reality makes it possible to reduce considerably the volumes of information of the robotic system transferred between its components. The article also contains description of the information system's structure, of a marker, of a method for synthesis of a dynamic two-dimensional code, and virtualization of the sensors. Collisions are avoided by keeping strictly the buffer distances and consistent communication between the robots with the use of 2D marker and quadrant codes, which are shown in the mobile robots. Obstacle identification is implemented due to the perceiving ability of the robotic agents in a collective and the ability of a global vision system. Often obstacles cannot be identified through vision mechanisms. In this case, virtual objects in global maps may be used instead of small real obstacles, which are located by the robot local sensors only. Sharing the obstacle information within the group can be achieved by broadcasting signals to the control or trajectory planning system with the help of markers of augmented reality. During experiments the technology of the virtual obstacles and artificial "loops (comet tail) "for synthesis of new trajectories was realized. The authors demonstrate the ways of using the offered techniques for a synthesis of the neural network system planning of the trajectories for a microrobot collective.

The article is dedicated to the problem of control of the synergetic openness of the organizational and technical systems in a market economy. The degree of the synergetic openness of a system is an order parameter, which is defined as the system's ability to respond to the external stimuli (consumer demand) by self-organization. It is believed that the system's competitiveness depends on this parameter, but the functional dependency is not defined. The authors propose an incremental algorithm for a synergetic openness for the system control and other parameters of the order and rate of growth of openness. They present an example of application of the algorithm for the control of openness in the planning system of a large industrial enterprise. The task is to ensure control of the degree of openness of the hierarchical planning systems, since the control parameters are the periods of rescheduling at each hierarchical level of the decision-making. It was demonstrated that a higher transparency of the system's structural parameters required consistency at various planning levels. This ensured emergence of a new equilibrium state in the production system, which would meet the strategic objectives of an enterprise.

The complexity of control of large technical systems coupled with the time-consuming process of obtaining and processing of the factual data from the operational documentation contributes to the situation with discrepancies in the real state of the system and the status reflected in the documentation. This reduces the information entropy of the system and the number of incorrect management decisions. Thus, adoption of control solutions for large and complex technical systems is only possible, if they meet the conditions of the admissible value of the entropy. The task of monitoring of the information entropy of large complex technical systems should be solved with an automated control of quantifying the information entropy of the system, which leads to conclusion about a possibility of making control solutions based on the stored factual data. The paper describes the method of a qualimetric evaluation of the information entropy of large technical systems based on operational models of a semistructured content. This method is based on an automated analysis of a group of decision-makers of the factual content associated with the operational documentation generated during operation of the identified system. Use of the semistructured content model implements a universal interface with access to the factual data of the electronic documents, which reduces the number of the processing errors and increases the processing speed of the factual content. The latter reduces the total information entropy of the driven system.

The article is dedicated to the task of improvement of the quality of the electronic system of automatic control of the gas turbine engines. An analysis was done of the control loop speed power turbines with various electronic controllers. The authors studied the linear PD controller, PD controller with reduced proportional coefficient, quadratic regulator, variable gain controller, fuzzy P controller and fuzzy P controller with a corrective differentiator. A study of the dynamic stability of the quality and quantity parameters of operation of each of the regulators is presented. When a control loop speed power turbine is operated with an original PD controller the required quality of the transients is not ensured. Achievement of the desired speed of the power turbine is accompanied by an overshoot of about 4 % and 0,2 % of the amplitude fluctuations. The transient time can be up to 20 seconds. Reduction of the proportional gain ensures an aperiodic transient increase of the stability margin (no overshoot) and enhances the static accuracy. But the performance is not efficient enough. The transient time is 15 seconds. A quadratic regulator improves the system performance, but does not ensure the required stability margin. The transient factor is accompanied by an overshoot of about 4 % of the amplitude fluctuations. A variable gain controller provides an aperiodic transient increase of the static accuracy and stability margin (no overshoot and amplitude fluctuations). However, the performance is not efficient enough. The transient time is 16.5 seconds. Fuzzy P controller ensures high static accuracy and speed, but the transition process is accompanied by a deregulation. In order to reduce the overshoot and ensure an aperiodic transition process in the fuzzy logic controller a differentiator is added with a negative gain. Because of the negative sign of the gain the differentiator compensates for the overshoot. For correct functioning of the controller the differentiator operates in a strictly defined range, and the error on the speed of the power turbine is within the range of ±[0,25 %, 2,9] %. The resulting controller improves the system's performance up to 6 seconds, but it also ensures an aperiodic transient and high static accuracy of the system. Thereby the required quality control is achieved, when the speed of the power turbine is the best with a non-linear or piecewise-linear controller. For example, it can be PD-controller including a fuzzy P-gain and a differentiator with a limited interval of operation. Within this operating range it depends on the mismatch errors of the power turbine speed.

The paper analyzes the feasibility and advisability of the use of the multiple automatic control systems with a feedback complex, intended to meet the challenges of the current and voltage stabilization of the welding process, and assess the impact of tools on the continuity and stability of the electrode metal transfer, as well as a possibility of the mass transfer control. The authors investigated the cruise control wire feed with a positive feedback voltage of the welding process and negative current feedback arc characteristics for different types of the welding power source. In order to evaluate the effectiveness of development of a system of external disturbances, experiments were conducted on the conventional surfacing rolls on 10HSND plate steel with grooves milled across. The authors used a welding current source inverter of a modern type. Analysis of the results was carried out on the basis of the statistical processing of the current and voltage waveforms of the arc in a number of experiments. It was shown that both the investigated and the automatic control systems ensure stability of the welding process and the required accuracy and speed of running of the external disturbances, leading to changes in the arc length. The dynamic characteristics of the welding power source inverter are sufficient to stabilize the current in the electrode metal transfer. The automatic control system with a negative feedback welding current does not have an impact on the welding process and the system of self-regulation of the arc, and therefore its use in some cases is inappropriate. Understanding, that stabilization is one of the possible boundary impacts, suggests a possibility of influencing the process of the electrode metal transfer not only by imposition of the current pulses, but also by its more complex modulation.

The tasks of navigation and guidance of the unmanned maneuverable aircraft often involve a problem of detection and recognition of the land scene objects based on comparison of the priori and posteriori information (reference and observed images, respectively). Such a comparison allows us to localize the sought objects on the observed image and to define values of the current coordinates of these objects. The most stable features of the current image bearing information on the geometry of objects of an observed scene are the edges of the images of the objects of a scene, their placement and their direction. This information could be obtained from the brightness gradients. In this article the authors consider possible modification of the edges detection algorithm in relation to the solution of the problem of detection of contours of large technogenic objects in the image of a multi-object scene. This modification makes it possible to take into consideration the direction of the detected edges. The purpose of the proposed modification is reduction of the contours of the textures and small objects. Such edges often change their directions, respectively, they are broken into a number of small edges of different directions. Later such edges can be excluded from the consideration. At the same time the contours (edges) of large technogenic objects seldom change their directions. These contours bear the most useful and exact information about separate objects and a scene as a whole. The proposed edge detection algorithm was tested on the image of a real multi-object scene. Advantage of the proposed algorithm in comparison with the other known algorithms is demonstrated in application to the considered type of scenes.

The article describes the methods for evaluation of the basic parameters using the least squares (zero offset, slope of the output characteristics (scale factor), and so on) of the micromechanical transducers of linear acceleration (PLD). It also contains studies of the static and random errors of the micromechanical transducers of linear acceleration (accelerometers) and random errors of the measurement parameters using the least squares metho, and Alan variations. Due to minimization of the experimental and theoretical values of the measured parameters and the least squares method it became possible to significantly reduce the measurement error. The accuracy of the measured values of the accelerometer using Alan variations was significantly improved due to an increase of the number of partitions of points in the group. So, in the split points in group 51 the accuracy was equal to 10 % and in group 201 to 5 %. The authors considered two ways for estimation of the parameters of a linear acceleration sensor: a static one, using centrifuges, and a dynamic one with testing on a shaker. As is known, a linear acceleration can occur due to the rectilinear, curvilinear and rotational movements. Since in this case the subject of interest is the linear acceleration, the play will be performed using the rotational motion of the centrifuge. The rotational motion and the linear motion depend on the distance of a product to the center of rotation of the table and the speed. The measurement result will depend on the values of the device parameters and characteristics of the test modes of a centrifuge. Because the effects of vibration of a product may cause mechanical defects or deterioration of the values of the parameters, of great importance is vibration testing on a vibration table. The main requirement to the test bench is a reproduction of vibration in a predetermined frequency range and mode for a set time and with a given accuracy.

The article is devoted to the theoretical mechanical models of the guided longitudinal motion of a couple of transport units. Such models are essential for analysis and construction of complex transportation system models, since the traffic, in which only the adjacent vehicles are interacting, can be presented as a set of transport units’ couples. The key target is to create and research the models, suitable for the robot-aided vehicles, considering the difference between the piloted, semi-automated and automated control versions. A new approach is introduced for the coupled transport units’ movement, considering velocity, acceleration and the dynamic parameters of the transport units. Absolute motion for a single transport unit model is analyzed, as well as an absolute and relative motion for the coupled transport units’ model. Stability for the suggested dynamical system is tested in terms of Lyapunov and Routh-Hurwitz stability criteria. Motion without harmonic oscillations of the state variables is considered as a comfortable motion mode for the model’s linear approximation. The ways of maintaining the required mode of the coupled movement for different types of control are considered. Limitations for the piloted control mode are determined. The asymmetry of the control options for the leading and following transport units is detected and studied. Models of an absolute and relative motion, suitable for vehicles, are presented. The results of the numerical experiments, proving the presented analytic models, show possible options for different types of traffic control, which ensure a stable coupled movement of the transport units.