The software package "MVTU" (Modeling in Technical Devices; in Russian - Modelirovanie V Tehnicheskih Ustrojstvah) is intended for research and design of the systems described by the differential, algebraic and difference equations. Complex technical object is a controlled object, therefore in the package "MVTU", along with the methods of simulation, the methods of control theory are implemented. In terms of features this package is an alternative of package Simulink, which is a part of system of mathematical computations MATLAB. As well as in the package Simulink, in the package "MVTU" representation of mathematical model in the form of block diagram is accepted. Blocks of such diagram are described by the differential and difference equations, continuous and discrete transfer functions, algebraic relations and logical conditions. The package "MVTU" implements the following operating modes. The operating mode Simulation provides simulation of continuous, discrete and hybrid systems, including in real time in the presence of data exchange with external programs and devices. The mode Optimization allows us to find optimum parameters of the designed system. The modes Analysis and Synthesis provide the solution of problems of research and design of control systems with use of frequency and root methods. The paper describes the main features of the package "MVTU" according to the solution of problems of the analysis, synthesis, simulation and parametric optimization of automatic control systems. Examples of the solution of such problems are given. Experience of the solution of a large number of educational, scientific and applied problems showed that the package MVTU doesn't concede by the opportunities to the best foreign analogs.

The paper presents first results of application of Autonomous Adaptive Control (AAC) method [4, 10] for adaptive control of group of robots on example of model of nano-satellite cluster. The AAC method is the biologically-inspired method, considerate to authors conceptual model of nervous system. From technical viewpoint the AAC system is self-learning recognition-control system, which has two goal functions: gnoseological one with goal of search and accumulation of knowledge and optimization one with goal of perform the optimal control of given controlled object. The AAC system contains subsystems: pattern formation and recognition, knowledge base, decision making, emotion modeling and some other subsystems. The AAC system provides self-learning and control in one process. The AAC system works on base of empirical knowledge and does not use of mathematical models of controlled object. In case of robot group the AAC system is uses as individual control system of each robot. Each individual robot learns to keep local order in the group. The global order is the result of sum of local orders. As example we have used a model of cluster of nano-satellites in experiment of monitoring of ionosphere of Earth. In the space mission the group of nano-satellites has to keep global order in the space. In our approach individual AAC systems self-learn to keep local orders in the cluster. As result we can see obtaining of global order in the cluster. The AAC system gives more cheap approach to high quality control than other methods regards to its adaptive properties.

The paper is devoted to development of a dynamic positioning system for a robotic vessel prototype. Two control laws, each intended to solve the posed problem, are proposed in the work. The mathematical model of MIMO plant boils down to a static function, as well as three independent dynamical channels with single input and single output, which correspond to the coordinates of the vessel (two linear ones and an angle one). They define its position in the plane uniquely. The 1st order linearized Nomoto model, which approximately describes the surface vessel behavior, is used as a mathematical description of each channel. The parameters of the considered MIMO plant are assumed to be unknown. Elements of the state vector are not measured, i.e. the feedback is provided using only the position and orientation of the prototype. It is implemented using a digital camera attached to a tripod above the workspace. The video signal is processed in a computer by image binarization according to the color of the deck and the red mark on the bow. The centers of the obtained spots are detected and after simple calculations three required coordinates become available. Error signals between the specified values and outputs at each channel enter the regulators, which shape the so called virtual control inputs distributed by the inverse transformation among the actuators of the robot. Control commands in the required format are sent to the prototype via a radio channel. The first proposed regulator is robust and it has fixed control parameters in its structure. The second one has adaptation laws of these parameters. Both algorithms are implemented on the robotic setup of surface vessel motion modeling. During the experimental approval of the obtained algorithms the stabilization problem of the vessel prototype in the specified area is performed.

In order to provide the preset authenticity level of transfer of transactions by channels, for example, in mechatronic systems noise-resistant coding is required. Improvement of transfer authenticity is attained owing to the rational selection of triplets of the noise-resistant code by allowing to minimize the actual volume of transactions. The technology of selecting the said triplets presented in the work is based on comparison of functions which characterize probability of errors formation in transmission channels. One of the said functions includes probability W of errors formation having certain multiplicity in each code block when this is transmitted by the channel with the known speed of occurrence of bit errors. Another function is the limit allowed probability L of available residual errors in the code block when the required authenticity is achieved due to correction by means of the code of bit errors of certain multiplicity. Rational selection of noise-resistant code triplets with the aim of improvement of authenticity of transactions transfer is determined by the introduced criteria term W £ L. With the use of the proposed method of selection of the noise-resistant code triplets an assessment has been fulfilled for provision of the field of providing the limit allowed probability of available residual errors in code blocks and the requires authenticity of transactions transfer. The obtained results made it possible to form possible solutions of selecting the fixed triplets of the noise-resistant code depending on speed of bit errors in the transaction channel, authentic transfer of the transaction block, as well as its allowed total volume.

The article presents briefly the problems involved in measurement of the frequency of a signal. For solving the task of reduction of the time in the narrow frequency range of a signal input a priori information is used about the model of the measuring signal, a new method for measurement of the frequency of a harmonic signal. The method is based on the formation of the secondary voltage shifted in relation to the input at an arbitrary angle and on the use of the instantaneous and additional input signals for determination of the frequency. In contrast to the already known methods it enables us to define the frequency in the period of time considerably less than the period of the input signal. A block diagram of the measurement tools which implements the method is presented. An analysis was done of the errors due to deviation of the real heartbeat of the harmonic model. It was demonstrated that the error value was largely determined by not only the harmonic structure of a real signal, but also by the duration of exemplary time interval and the angle of the shit of the additional signal in relation to the input one. The article presents the results of the analysis of the error arising due to imperfect phase-shifting block not intended for formation of an additional signal. Opportunities for reduction of the errors by modifying the parameters of the measuring process were considered. The obtained results allow us to evaluate a possibility of using the method and means of its implementation, depending on the spectral composition of the input signal and requirements for the measurement accuracy. The analysis showed that the most appropriate areas for application of the method were: control of the parameters of the position and moving sensors with a low-frequency output, as well as determination of the rate of the frequency change.

Problem statement: The paper considers a task of multi-agent platform development for designing smart resource management systems in real time. Multi-agent platform is based on main classes of interacting agents with competing interests represented by satisfaction and penalty functions. Methods: A method of multi-criteria planning of production and transport resources is proposed, based on a modified model of demand and resource network of enterprises, where various criteria are alternately improved depending on the situation reflected by the state of resources and incoming event flow. Every cycle of replanning has two stages: conflict-free planning and proactive schedule improving with conflicts resolutions. Enterprise production orders and industrial/human resources serve as demands and resources, correspondingly. Demand and resource network agents have their own goals but are capable of making a compromise to achieve a common interest of the whole system. Results: The paper experimentally demonstrates the opportunity of solving complex tasks of resource management, which cannot be solved by traditional methods and known heuristics with required quality and efficiency. Practical value: The developed method and platform can be applied when designing industrial systems of resource management in various domains, providing a 20-40 % increase of enterprise efficiency. The following systems has been developed and put into operation: a multi-agent system for scheduling of flight program, cargo flow and resources of the Russian Segment of the International Space Station; a system of railway transportation management; a system for workshop management of a machine-building enterprise; a system of transportation logistics and some others.

Problem statement: In this paper the implementation of an interactive multi-agent system for flight program and cargo flow scheduling of the Russian segment of the International Space Station (ISS RS) is considered. The system solves the problem of the crew life support and ensuring proper functioning of ISS RS, as well as increasing the efficiency of decision-making by specialists of RSC "Energia" during ISS RS flight program and cargo flow schedule development and resource computation. The system provides a solution for a large number of interrelated tasks of flight scheduling (including starts, dockings and undockings) for transport and manned spacecrafts taking into account different requirements and deliveries of necessary equipment, various materials and tools onboard the ISS RS. Methods: The system implements a method of adaptive flight program and cargo flow scheduling for the ISS RS in real time, taking into account priorities, rules, restrictions of cargos and transport vehicles. This method is based on multi-agent technology for resolving conflicts through negotiation between agents. Results: The system can adapt the flight program and cargo flow schedule of the ISS RS flexibly and efficiently in response to events in real time. The developed interactive multi-agent system has been implemented in RSC "Energia" and is now in industrial operation. Practical relevance: The described system is used for flight program and cargo flow scheduling. The system supports coordinated work of 8 leading project engineers and more than 120 application managers working with manufacturers. A key result of the system introduction for improvement of the enterprise efficiency is reducing the complexity and time required for scheduling and, consequently, the capability for simulation of different schedule options for vehicles and cargos, as well as for support of interactions and negotiations among stakeholders, aimed at finding the best response to external events and adaptation of plans "on the fly" during the station operation.

The article is devoted to the task of adaptive control of a single-axis vibratory gyroscope with a modified reference model of the desired dynamics of the mechanical subsystem. In order to enhance the astatism of the system and ensure smoothness of the controlling forces, additional integrators are connected to the gyroscope inputs. The smooth control algorithms and the algorithms of the sliding mode with a tuning surface for the system with integrator were designed by the speed bi-gradient method. Synthesis of the control algorithms based on employment of an additional modified reference model for the trajectory tracking error of the reference model was proposed. A modified model was selected in the form of a linear Hurwitz system with an input proportional to the discrepancy between the output of the input cascade and the virtual control of the gyroscope. The purposes of the modification were improvement of the identifying properties and reduction of the energy consumption for control. These goals were achieved by a structural correspondence of the model error and modified reference model not only on the intersections of the hypersurfaces (the discrepancy was identically equal to zero), but also outside of them. Note, that entry of a discrepancy either in the unstable reference model of oscillation or in a virtual control does not allow achievement of the specified goal. The design procedure, condition of the applicability, stability analysis of the adaptive control system and the robustness were presented. The theoretical results were proved by a closed-loop system simulation in MATLAB.

This paper addresses a terminal control scheme for a basic attitude maneuver of a spacecraft, formation of an "inertial attitude" mode in the finite time bounds. The algorithm is based on determination of the angular velocity program values. This determination uses the analytical expressions obtained by means of the boundary solution proposed in the authors' previous works. The solution assumes discrete model parameters' identification by the modal control decomposition method in the observer synthesis. The further stabilization of the attitude and angular velocity parameters is necessary. The angular motion control process is described by the kinematic equations in Rodrigues-Hamilton parameters and Euler's dynamic equations. Analytical solution of the kinematic equations with the constant values of the angular velocity is used to determine the program values of the angular velocity. This allows us to obtain new values of the program angular velocity in every onboard computer cycle. These values ensure forming up of the inertial attitude for the given time. The next step is to calculate an appropriate momentum control values. Linearized Euler's equations are used to get the control values. Linearization is performed at every cycle of the onboard computer. It gives a high degree approximation to the nonlinear model of a spacecraft angular motion. All the synthesized control laws and observer feedback coefficient matrices have simple analytic forms and can be implemented on the onboard digital computer for a real-time execution to form-up the inertial attitude mode. Numerical examples are presented to demonstrate the successful work of the developed control algorithms for a wide variety of the initial conditions (initial attitude, maneuver time) in the inertial coordinate system.

Landing of UAV of an airplane-type is a complicated and potentially dangerous final stage of the flight. Success of landing depends on such factors as UA V flight performance, landing descent trajectory configuration, capabilities of the onboard equipment used for landing, aerodrome characteristics, capabilities of the aerodrome landing systems, as well as the meteorological conditions in the landing area. Generally, now at the stage of field landing UA V descents along a straight glide path with a slope within 2...3 degrees down to a runway contact with the landing gear. In case of such a descent without a flare path UA V landing is hard, which is especially undesirable for heavy UAVs. The technique of optimization of the descent path of a heavy unmanned aircraft of an airplane-type ensures a soft landing on the airfield ground. As the object of the study a heavy class drone of an airplane-type was selected. A mathematical model of the object included aerodynamic and dynamic model of the spatial movement of the unmanned aerial vehicle as a rigid body, a model of the two traction motor propulsion system, an elastic model of the tricycle landing gear with a turning nose strut and models of wind disturbances. For control of the movement of the unmanned aerial vehicle the algorithms for automatic control were used, synthesized by the method of the inverse problems of dynamics. In order to resolve the desired descent path of an unmanned aerial vehicle's landing on the airfield ground to a halt mathematical modeling was used. The results of the mathematical simulation mode fully confirm the validity of the choice of the path alignment as a third-order polynomial. In this type of alignment the desired trajectory ensures a soft landing of an unmanned aircraft, which excludes the possibility of emergency situations in the moment of transition in the flight path of the air traffic on the surface of the runway.