In this paper the authors explore comparison of the famous method of analytical design of the aggregated regulators (ADAR), developed in the works of the scientific school of the Southern Federal University (Russia), and the method of back-stepping. In a well-known review of P. Kokotović, the method of backstepping was mentioned as a milestone innovation in the control theory of the last decade of the 20th century. For the simplest nonlinear objects, which are derived to the structure of the serially connected integrators looped with feedbacks, the ADAR method and the backstepping method are formally deduced to the same results. But any variation of this structure, as well as an increase of the dimension and complexity of the control object model, leads to major difficulties for deriving of the analytical expression of the control law. The ADAR method of the Synergetic Control Theory is a way of forming and resonance exciting of the internal forces of co-interaction. These forces emerge in the desired structures, i.e. attractors, in a phase space of the designed systems, which are confirmed with a physical essence of the above system. In the paper the comparison of ADAR method with the backstepping method is presented with well-known examples of the nonlinear control systems' design problems. The provided numerical examples and computer simulation results clearly demonstrate the explicit advantages of ADAR method in comparison with the backstepping method by the following criteria: (i) the nonlinear regulators of the analytical design procedure and regulators of the physical validity; (ii) regulator settings of the selection validity and its value; and (iii) provision of the closed-loop system's asymptotic stability.

There are many continuous technological processes of high power, with huge material and energy flows. Their parameters can change not only in time, but also in space. The hydrolithospheric processes, the processes connected with heat treatment, diffusion, etc. (in the control theory this class of processes is called objects with the distributed parameters), can serve as an example. Mathematical models of such processes either are not known, or described by the equations in private derivatives. The main approaches, used for analysis of the linear objects with the distributed parameters [6-14] are based on the theory of differential equations in private derivatives and frequency methods. Without a loss of the linear objects with the distributed parameters we will set the task of application of the qualitative theory [15-19] for a synthesis of the control systems with the distributed parameters. We should note that for the distributed objects a decomposition of their mathematical models on the own vector - functions of the operators of objects, the own movement of which is described by large dimensional differential equations, takes place. The technique of synthesis of the distributed regulators using the qualitative theory is considered on the example of construction of the closed control systems of the heat distribution process in a plate of the final sizes.

On the basis of the new formulation of the problem of three bodies were obtained: 1) a new definition of the locus of the points of an equilateral hyperbola; 2) a new "dynamic formula of the golden section" to the representative point of a scalar field displacement of the center; 3) a new interpretation of the deleted point as the point preceding the transition to another branch of the rectangular hyperbola. It is shown that the author introduced the space of possible states of a dynamical system described by a scalar field as a hypersphere with a displaced center - quantized punctures offset center. That is in addition to the known quantization of time and the level of quantization is proposed a new method based on the quantization introduced by the author of the concept of the quantum motion, which is in contrast to the "photon" of theoretical physics is filled with rigorous mathematical content. Thus, the overall dimension of the state space and the space of possible states is (3n + 2). It is proved that the curvature of the space of possible states (phase space + hyperspace displacement of the center), as predicted by Einstein, is a geometric property of the scalar field. The space of possible states is a pulsating wave hyperspherical variable curvature center coordinates which are the algebraic sum of scalar waves of torsion on the branch of an equilateral hyperbola and scalar waves exponential motion. The proof is based on the quantum analogue of the Pythagorean theorem.

The paper presents the existing algorithms and ways of passing labyrinths. Hardware and software were developed for an automated control system of a mobile robot angular orientation in labyrinths. The paper describes the elements included into the robot, as well as a scheme of their linking-up. One of the factors, which limit the use of the robotic systems in industry, is a small memory size of the microcontrollers. In order to compensate for this shortage, a fuzzy algorithm of passing based on analysis of the incoming information from the sensors was presented. In order to process the information coming from the sensors an articulated mobile robot control concept is used, based on a hierarchical fuzzy synthesized MISO-system. Its distinguishing feature is that the parameters of the previous level of the output are the input to the next level. A concept is presented for processing information coming from the sensors of the mobile robot control. It is based on a hierarchical fuzzy synthesized MISO-system. They make the system additive, and ensure its higher levels of accuracy and functionality. They make the system additive, and ensure higher levels for accurate events. Assessment of accuracy is carried out by the standard deviation (RMSE). The best system has a minimal value of RMSE. The experimental modeling presented in the paper confirms the adequacy of the developed fuzzy system.

Mobile robot motion is a complex field of research intensively studied during the recent decades. In this article the authors consider the problem of path planning for a mobile robot with two degrees of freedom (ground vehicle) in a priori undetermined environment. The authors formulate the path planning problem and propose a computationally effective algorithm for solving the problem of movement path construction in a priori unknown environment. The proposed algorithm decomposes the path planning problem in two main phases: construction of a graph-based presentation of a free space and graph search. The authors propose a dual graph of a free space polygon triangulation as a means of a free space presentation. This approach allows us to minimize the graph size without an uncontrollable loss of accuracy of environment representation. This approach uses Dijkstra algorithm for the conduct path search on a free space graph, but it is possible to replace this algorithm by another one with account of the particular constraints. The proposed algorithm envisages a continuous collection of the environment information by a robot using its sensors. A brief review of the existing approaches to the problem is presented, as well as a theoretical comparison of these approaches with the proposed one in terms of the computational complexity theory. The proposed algorithm's computational efficiency is demonstrated via a computational experiment, where the proposed and reference algorithms operate on a set of synthetic environment models of different geometric size, but with a similar structure. An experiment proved the algorithm's supremacy in speed.

At the paper considered mathematical model of process appearance and accumulation of hidden faulty of electronic units. In reference to hypothetical electronic system of aircraft consists of five units receive the systems of equation. According to the systems of equation composition and construct two the graphs. One of them construct for avionics systems with constant structure in flight of aircraft. Another graph construct for avionics systems with changeable structure in flight of aircraft. Nodal points at left-hand upper angle of graphs (capital letter A) correspond to the facts of full in good working order of electronic system. Nodal points which mark capital letter D at right-hand lover angle of graphs correspond to the facts of full loss serviceability of electronic system. All the rest nodal points of graphs to represent intermediate condition (state). This intermediate state be discovered man-operator or automatic equipment of control (capital letter B₁, B₂, B₃) and latent disturbance (capital letter C₁, C₂), either combination that or the other (capital letter at combination B₁C₁; B₂C₁). Arcs of graphs to represent intensity of transition system from a state to another, transition between states. Analysis of graphs demonstrate, what changeable structure avionics systems make it possible raise functional reliability of electronics systems. But considered mathematical model suitable only for production-type of avionics systems, which the remote past government test and experimental study of operation.

Presently, when intellectual systems are being established, the solutions to certain logical problems are considered without any limitations concerning the periods of implementation, the resource and mass-dimensional specifications of the equipment, as well as its operation terms. Being so, numerous practically important intellectual components, intended for functioning as a part of the operational control systems and digital automation devices, fall out of the vision field. Therefore, this paper is aimed at determination of the design peculiarities of the intellectual modules of the above systems, which are capable of taking into account the time factor, as well as functioning in the conditions of the really existing resources and other limitations. Distribution of functions for information processing between the software-hardware and the personnel of the system is an original solution of the set problem. By using the logical and mathematical control model a list of the most widespread options of functions' distribution and a list of algorithms were formed for the use in the intellectual components of highly productive systems. Engineering approaches were proposed for assessment of the specifications of the processors, operational systems, software and information processing technologies, when the time factor is taken into account and prerequisites are provided for functioning of the intellectual modules in the conditions of limited resources.

The topic of the article is a problem of optimal control of a spacecraft reorientation from an arbitrary initial attitude to a prescribed angular attitude. The case is studied, when the minimized functional combines the time and the integral value of the modulus of the angular momentum for the spacecraft reorientation. Using the necessary conditions of optimality in the form of Pontryagin's maximum principle and the quaternion method for the spacecraft motion control, an analytical solution to this problem was obtained. Solution to the optimal control problem is based on the quaternion equation connecting the angular momentum vector and the orientation quaternion of the body coordinate system. Formal equations were derived and expressions for construction of the optimal control program were given. The dependence of the control variables from the phase coordinates was found (in an explicit form). Using the transversality condition as the necessary condition of optimality, optimum value of key parameter of optimum functions is determined. For a dynamically symmetric solid body, the problem of the spatial reorientation was completely solved - the optimal law of variation of the spacecraft angular momentum (as an explicit function of time) was obtained in an analytical form. The results of the mathematical simulation of the spacecraft motion under the optimal control are presented and demonstrate practical usefulness of the proposed algorithm for the spacecraft attitude control.

A controlled flight into terrain remains a serious problem for the commercial and military aircraft. Necessity of monitoring the height and other parameters of movement during operations near the ground increases load on a pilot and diverts him from his specific tasks. So, the efficiency of the task implementation is reduced. It is difficult for a pilot to adequately estimate the degree of maneuverability and safety on a modern maneuverable aircraft. To improve the flight safety applies systems which warns the pilot of the ground proximity and performs an automatic collision avoidance maneuver. We have ground collision avoidance systems based on the trajectory prediction and calculation of the height lost during the automatic collision avoidance maneuver. The available dynamic characteristics of an aircraft should be taken into account for development of the control algorithms in such systems. The article deals with the synthesis of the control algorithms for performance of the automatic maneuvers intended to avoid collision with the ground in accordance with the current parameters of movement and maneuvering characteristics of the aircraft. Analysis was done of the influence of the parameters of the control algorithms in different initial conditions and different characteristics of g-load and roll angle control loops. The logic for selection of the direction of rotation to achieve the wings' level position in the shortest time was considered. The proposed algorithm is applied in the aircraft with control loops of g-load and roll angle.

The significant excess of demand over supply initiates the speed increasing of world market of unmanned multi-purposes complexes (MPC) last years. Except space unmanned systems and unmanned flying systems of aircraft type [1], also exists helicopter and balloon (zeppelin) aviation MPC, land-on and underground MPC, also marine and submarine MPC. According with the proposed classification shortly define and determine the modern MPC applications. The article is devoted to the helicopter, balloon (zeppelin), land-on and underground, marine and submarine MPC, designed by Russian and foreign scientific and industrial organizations and enterprises, including Moscow Mile helicopter plant, "Schiebel", "Unmanned systems", "Raytheon", "IRKUT', "RosAeroSystems", "SEW Eurodrive", "iRobot", "Black-I Robotics", "QuinetiQ", "KEMZ", "SPB PA" companies, "Central scientific researching and experience construction institute of robot-technique and technical cybernetics", "Central scientific research institute "Hydrodevice"", "SEA-EAGLE", "SeeBotix", "Augusta Systems", "TOYO", "EMT", Bauman State University, Massachusetts technological institute, Harvard university and DARPA. This MPC may be used in different spheres, such as oil and gas monitoring, fire-protection systems, industrial safety, ecological equipment, bogy guard and other civil applications. The comparing of air, land-on, underground, marine and submarine MPC by financial and economical parameters supports the realization of regional investment projects. Much attention is paid for industrial and ecological monitoring with protection of communication channels based on computer steganographic technologies, which are protected by author's Russian patent for invention.