The paper describes the robust control algorithm for the linear dynamic multi input multi output plants in the conditions of parametric uncertainties, external bounded disturbances and saturation of the input signal. Firstly, the author proposed the disturbance compensation algorithm, which ensured tracking of a plant output to the reference signal with a given accuracy without constraints in the control signal. It is shown that the structure of the control law does not depend on the dynamical order of the plant model. Therefore, the proposed algorithm can be used for the structural uncertainty plants. Besides, the proposed result generalizes some control algorithms, such as the consecutive compensator designed by A. A. Bobtsov, the algorithm based on a high gain observer proposed by H. Khalil and the auxiliary loop algorithm designed by A. M. Tsykunov. Secondly, the proposed algorithm is generalized for the case, when a control signal belongs to the given bounded set. The approximation algorithm of saturation of nonlinearity and the disturbance compensation algorithm for the design of the control law are used. The conditions depending on the parameters of the plant, the reference model and the algorithm for implementation of the control system under perturbations and control constraints are presented. The author considers two examples for the single input single output plant and the multi input multi output plant. The simulation results illustrate the efficiency of the proposed algorithm and confirm the analytical results. The theorem of the sum of the stable polynomials proposed by A. Feuer, A. S. Morse, K. S. Narendra and L. S. Valavani is generalized on the structural uncertainty polynomials and matrix polynomials for the proof of the closed-loop stability.

Methods for damping for oscillations of elements of complex mechanical systems such as strings and membranes began to develop rapidly in the 70s of the last century. The most significant results Were obtained by J. -L. Lions, D. Lagnesse, D. Russel, A. Butkovskiy, Which dealt With cases of string oscillations (With various types of restraints at the borders) and circular membrane. In this paper We consider the control problem of elastic dynamic systems modeled by partial differential equations of the fourth order, hyperbolic by Petrovsky, Which describe, in particular, oscillations in antennas and other elements of space platforms, pipelines, bridge openings. The control problem is to find the minimum time to damp oscillations arisen due to initial perturbation of the system. To solve this problem We derive trigonometric moment problem (infinite system of integral equations of first order for the time component of the control function). We prove the existence of the minimum time and optimal control in case of beams and plates. Wherein time for damping of oscillations and optimal control are given in explicit form. To obtain these results We study the asymptotic behavior of eigenvalues of the corresponding spectral problem by using the classic theorem of N. Levinson (on the basis of the Riesz exponential systems) and Bellman (of almost orthogonal trigonometric systems). Note that the classical solutions of the moment problem presented in the form of infinite series of functions and to obtain the elements of these series is a separate difficult problem. Therefore in order to find the approximate solution We consider the class of control functions such as point moving and slim dampers and build effective numerical methods. Given examples confirm that proposed numerical methods alloW us to find solution of problem With sufficient accuracy.

The article shows evolution of the human-machine interface ergonomic systems in the direction of improvement of integration with human, who connects the controlled technical environments. The author presents a classification of the interfaces and the interface environments depending on the degree of the user's integration with the operating environment. The author describes the following types of the integrative interfaces based on the level of the physical interaction of the mechanical controls intended to complete integration of an actor (actors) in the organized working environment: mechanical, with an immediate visual feedback, the mechanical feedback through an information model, a computer user virtual, neurocomputing, symbiotic, biomorphic, technobiotics hypothetical interfaces embodied in the artificial intelligence environment. The author considers the brain-computer interface, ensuring a direct link with the brain of an operator as one of the promising areas of the inter-system integration, which can be used in the form of a "brain-computer" technology. The author shows fundamental limitations in the technology and methodology for creation of this class of interfaces. The next section of the paper deals with the problems of creation of the hybrid biomorphic neuroadaptive interfaces, including creation of the artificial sensory modalities, which ensure an effective interaction with the operator control system. The author notes the potential of creation of the biomorphic and hybrid interfaces as a result of the joint use of the genetic engineering and technical design as a part of the system of non-classical representations. The key problem in creation of the biomorphic interfaces is the problem of inter-system integration between the classic technical systems and biological systems, which implement the cyclic self-reproduction (autopoiesis), because of the interference in the operational structure of the autopoietic systems, which leads to their destruction. In conclusion, the author points out that the evolution of the human integration with the artificial environment can lead to appearance of an embodied mind in an artificial environment, which goes beyond the human nature, organized like a non-biological media. This issue is currently on the cutting edge of the scientific knowledge and can be interesting as a philosophical problem arising in the extreme boundaries of the inter-system integration of man and technology.

The article provides an overview of tools and methods of man-machine interface for special types of robotic systems. It continues the series of previous publications on multi-robot systems that can provide a cooperative solution to the specified task. Although most multi-robot systems research is centered around the problems of group control, it is obvious that the effectiveness of such systems will be determined by the capabilities of man-machine interface designed to interact with them. In this article we show the evolution of man-machine interfaces starting from manually controlled robots and finishing with autonomous robots. We also discuss a variety of approaches to implementation of such interfaces. From the analysis of modern interfaces functional capabilities we offer the construction principles of man-machine interface for multi-agent robotic systems. These principles are based on complex automatization of information preprocessing for a multi-robot systems at every stage of their operation; intellectualization of decision-making process; software modularity and unification. The structure and composition of software and algorithmic tools for multi-robot group's task description are justified including the systems responsible for information input/output; task scenario model formation; agents number estimation; task planning; multi-robot system modelling; information gathering and interpretation. Supervising software is presented that controls the coordinated functioning of man-machine interface subsystems. The results of the simulation are given including the task scenario formation and its execution monitoring.

Significant progress has been recently achieved in the field of development of numerous autonomous mobile ground, water, air and space device-robots, micro robots, unmanned aerial and floating vehicles, pico- and nanosatellites, which perform diverse tasks without human presence and are remote controlled by people. The power loading of such mobile autonomous devices determining the duration of functioning of the service and functional onboard informational and control systems remains one of the intractable problems. The work analyzes the structure scheme of the onboard equipment for reception and conversion of the microwave energy of the mobile autonomous devices. It demonstrates that the elements, which as metamaterials can be used in the onboard equipment, are emitters of rectenna and high harmonic filters. The use of the microelectronic and mi- cromachinery technologies, metamaterials as a part of rectenna and filters based on the substrate waveguides integrated, allows us to halve the amount of the energy transfer canals and dramatically decrease the mass characteristic of the reception equipment and conversion of the microwave energy mobile autonomous devices in comparison with the analogues.

Questions of analysis of the statistical characteristics of the radioautomatic systems, in particular, the phase-locked loops (PLL), refer to the classical problems of the statistical communication theory. The Costas loop was proposed by John Costas in the middle of the previous century, but despite this it has been studied insufficiently. Currently, this radioautomatic system finds wide application in the telecommunication devices, global positioning systems (GPS, GLONASS), medical implants, and mobile communication systems. In contrast to the classic approaches PLL Costas loop simultaneously solves the problem of recovery of the suppressed carrier and demodulation of the input signal. This article presents Markov mathematical model of the Costas loop in the form of the stochastic differential equations with the additive effects of harmonic interference and white Gaussian noise, which takes into account the impact of the loop arm low-pass filters on the data modulation. The statistical properties of the loop phase error in the linear approximation are considered. The cumulant analysis of the Costas loop in the Gaussian approximation is offered. These results can be used for the engineering analysis of the noise immunity of the system in the presence of harmonic interference and Gaussian noise, which is typical for communication and navigation systems in difficult noise conditions caused by the industrial broadband and narrowband interferences. The resulting model and the considered linear and Gaussian approximation can also be used for the spectral analysis of the phase noise of the system.

This paper considers the problem of optimal reorientation of the spacecraft's orbit by a limited or pulse jet thrust which is orthogonal to the plane of the osculating orbit, with the help of quaternion differential equation of the spacecraft (SC) orbit orientation and the Pontryagin maximum principle. This kind of jet thrust changes the orientation of the spacecraft orbits while its shape and size during control process kept unchanged. Functional that defines quality of control process is a weighted convolution of two criteria: time and the total momentum of jet thrust spent on control process (special cases of this functional are fast response problem and the problem of minimizing the characteristic velocity). In the second part of the article we present a new theory of problem of optimal reorientation of the spacecraft orbit in pulse setting (using pulse (large) jet thrust). We provide algorithms for solving boundary value problems of optimal two-pulse and multi-pulse reorientation of the spacecraft orbit (non-fixed number of jet thrust pulses) and examples of numerical solution of boundary value problems of optimal reorientation of the spacecraft orbit with a limited (small) or pulse (large) thrust in which quaternion osculating element is used to describe the orientation of the spacecraft orbit.

Analysis one for possible ways of automation protection of gas-turbine engine from surge that derives all or most of its thrust by reaction to its ejection of combustion products (or heated air) in a jet and that obtains oxygen from the atmosphere for the combustion of its fuel. Parameters of control and operate - quantitative and qualitative change of frequency rotors turn and of gas temperature over the turbine. Analysis of the parameters examination with calculation signs of changes this parameters. Examine algorithm of indications signs surge of gas-turbine engine, reduce the speed feeding of oil fuel, automation start the gas-turbine engine. Algorithm of protect from surge suitable used for two type jet engine: 1) in the jet engine a part of the air bypassed and exhausted to atmosphere after the first (two) stages of LP compressor. About half of the thrust is produced by the fan exhaust; 2) a jet engine incorporating a turbine-driven air compressor to take in and compress the air for the combustion fuel, the gases of combustion being used both to rotate the turbine and to create a thrust-producing jet.