The automation of control processes by technical objects and technological processes in the different fields of industry, energetics and transport is accompanied by the broad use of tracking regulation systems intending for the reproduction at the output with the definite precision of the giving action, arbitrarily varying from the law which is unknown in advance. The methodology of the analytical synthesis of the optimal regulators (ASOR) called also as linear-quadratic (LQ) optimization has got the wide propagation in the automatic control theory. In the classical variant of setting up the ASOR problems are connected with stabilization of unperturbed motion of the object. The given settings don't take into account the wide class of the problems connected with the completeness (tracking) of the dynamic processes in environmental influences: here the channel of reference input defining the goal meaning of the directed output of the object is the integral structural factor of the automatic system. There are well known the tries to extend the ASOR methodology to control processes with the goal behavior of the object given by external (outer) standard models which are included themselves in control process and carry out the function of the generator of the standard output of the object. But the analysis of papers of the given direction shows its inapplicability for the wide class of control problems where the given action may be the arbitrary time function. In the given paper the methodology of use of LQ optimization for synthesis of servosystems, the function of which consists in tracking for variations a priori of unknown command order signal is discussed.

Parametric robustness is an important property of the systems synthesized by analytical methods. The article presents a solution to the problem of the parametrical robustness of the modal control systems with polynomial regulators, during which the parameters can vary in a wide range. The authors investigate a possible application of the approach, the basis of which is the use of a high coefficient of amplification in the control path. They also analyze certain methods of the robust systems' synthesis: the method of high coefficients of amplification by V. M. Meerov and the method of localization (control with the use of higher derivative) by A. S. Vostrikov. Their advantages and disadvantages are noted. The methodology of the synthesis of the automatic control single-loop system with polynomial regulators is proposed, it guarantees both a high coefficient of amplification in the control path and the necessary quality of the transients (operating speed and nature of the process). A high coefficient of amplification ensures the parametrical robustness and high static accuracy for the system. The methodology is based on the formation of a characteristic system of a polynom with two groups of roots: "fast" and "slow", the former one ensures a high coefficient of amplification and, consequently, a parametrical robustness, the latter ensures the quality of the transients. A possibility of variation within the magnitude of the "fast" roots of the characteristic polynom allows us to choose the rate of the automatic control of the system's robustness. The article presents versions of synthesis of the regulators with an irregular (physically unrealizable, differential), and a regular (physically realizable) transfer functions. The research based on a computing experiment with the use of the mathematical model of the typical dual-mass electromechanical object and variation of the control member moment of inertia as a parameter, most susceptible to alternation, confirmed the efficiency of the proposed synthesis methodology. In the supplement the authors provide confirmation of the given approach allowing one to increase the coefficient of amplification with preservation of the quality of the transients.

Innovations in designing of the algorithmic supply of the moving control systems, based on the ideas of the inverse dynamic problem and local optimization, lead to analytic expressions for the automatic control laws of the dynamic objects with an incomplete description or with the parameters, which may be essentially changed during operation. The controllers, which implement such control laws, provide a closed loop system of the adaptive properties, and their structural interpretation allows us to see a familiar outline of a traditional PID controller. This gives us a chance to realize the new adaptive control laws for the existing DC electric drives equipped with the traditional PID controllers. Thus, the procedure of changing of the control law results in new parameters of setting of PID controller in the electric drive. In this paper the authors adhere to the concept of a direct adaptation, current numerical optimization for the local criterion of the main loop of the control system. The main problem of such an approach is to summarize the control error containing the data about all the uncontrolled changes of the object characteristics and environment included into the chosen optimization criterion. This problem is solved by introduction of a generalized control error as a difference between the derivative controlled coordinate and the respective derivative variable of the model reference, and by the use of the local quadratic criterion. Application of the new technology is demonstrated by construction of the control law for the adaptive controller of the electric drive designed to control the speed of DC motor with an independent excitation in the conditions of the uncontrollable change of its parameters and shaft load. Therefore, the aim is construction and investigation of the adaptive control laws, and designing on its basis of an appropriate structure available for use of the traditional PID controller platform, and also the synthesis of its parameters determining the desired static and dynamic properties of the projected electric drive. The authors present a statement and a solution to this problem. They demonstrate that the designed adaptive control law can be implemented on a conventional PID controller platform. At the same time, a traditional PID controller is converted into an adaptive one simply by changing of the parameter of its tuning with a constant element structure including integrator, differentiator and amplifiers. The results are presented using the construction of the adaptive electric drive with the use of the virtual units of the power electronic elements and electric DC motors included into SIMULINK library.

The article discusses the question of a rational organization of the input - output operations for a highly dynamic digital control system (DCS). The required dynamics of DCS is achieved through a transfer of the input - output operations into a separate hardware node - an active peripheral subsystem. The developed model of the consistent information environment for DCS allows a more precise evaluation of all the phase durations of the control cycle and simplifies the logic of interaction between the parts of the software management cycle. Organization of the input - output data with simple cyclic operations in a non-conflict mode allows us to maximize the speed of operation in all the phases. Another advantage of the architecture of the input-output subsystem is the ability to simultaneously capture the state of all sensors in the current cycle regulation - getting a "snapshot'" of the state of the controlled object. This result also demonstrates a rational improvement of the overall performance of all the operations of the exchanges with the periphery, but not of the speed of operation of the individual transactions with in one control cycle.

The article deals with modeling of the movements performed by a hexapod robot. The aim of development is creation of the control programs, making possible production of layered volume 3D-press products or obtaining of coatings without the use of postprocessors. The objective is to develop special algorithms used in the control programs. Algorithms were constructed on the basis of the principle of a cyclic program. Due to the internal robot-hexapod's numeric registers a possibility was realized of a simplified data input to the path of movement of the tool, which can act as an extruder, or another tool with a nozzle for spraying of the working substance. With the help of the cycles in the control program sorting out of values was done within certain ranges of the numeric registers. As a result of the sorting, the control program determines a correct setting of the program, or coordinate, which is to be followed at the moment. The obtained algorithms are intended for the reciprocating and rotational movement of the working body on the trajectory. The control program is small and can easily be reconfigured for other dimensions of the resulting surface, or other parameters such as the diameter of the nozzle, number of layers, starting point and spray rate. The operation control programs were tested on a real hexapod robot in a laboratory. In addition, with the help of the software a system project, including a copy of the virtual environment, was created, in which the robot operated, as well as a virtual remote control, which made it possible to write a control program or change the numerical value of the registers. This control program was tested in a virtual environment, with a clear visualization of the robot and display of the motion path of the output link.

In this paper the authors discuss the prospects of robots in agriculture. According to the authors, the most challenging area of agriculture is the use of robots in the technology of Precision Agriculture (or Target Farming). The main idea of this technology is fertilization of the soil in accordance with the actual fecundity level of each specific area of a field (in contrast to the widely accepted field fertilization according to the average fecundity level of the overall field). The advantages of the Precision Agriculture technology are higher productivity level and better ecology of the food produced and of the field used for food production. In such case this technology consists of four main components: 1. Remote sensing of the soil for estimation of its actual fecundity level; 2. Calculation of the amount of the fertilizers needed for each part of the field; 3. Development of new agricultural machinery; 4. Precision navigation systems for the agricultural machinery. The authors believe that most of these components (except component 2) are typical robotics tasks. Within this paper they discuss various approaches to realization of these components, their advantages and drawbacks. The concluding part of the paper presents the preliminary results of application of the Precision Agriculture technology in the Russian Federation. According to the experimental tests performed by the State Research Institute for Agrochemistry, the winter wheat production increased by 3 metric centners per hectare in Voronezh Region. This covered all the costs involved in the Precision Agriculture project within one year. The last paragraph of the paper is devoted to the key players in this area of research in Russia.

The article is devoted to an implementation of the scheme of independent computations for solving the routing problem with precedence constraints and (in the theoretical part) with the cost functions depending on the list of tasks. The prototype of the considered statement is the well-known intractable traveling salesman problem, however, the considered statement is distinguished by the above-mentioned qualitative features. The problem is solved by the dynamic programming method. It is not necessary to construct the whole array of the values of the Bellman function, which is motivated by a desire to decrease the computational complexity. The parallel algorithm for determining the value of the problem value (the global extremum) and the "complete" solution algorithm, which includes the construction of an optimal route, are treated separately. The latter algorithm was realized on the Uran supercomputer; it made use of the (finite) nodes system. Every node had multiple processors, and the totality of the nodes formed the computational cluster. It was possible for certain values of the Bellman function to be (independently) computed by different processors. The developed methods may be applied to certain problems of the nuclear power generation, including the problem of minimization of the radiation exposure of the staff during the emergency situations, similar to Chernobyl and Fukushima. Another possible application may be connected with machine engineering problems, such as routing of a cutting tool of CNC cutting machines. And the last but not the least, this statement may be used to model many problems in the sea and air transportation, and also certain problems in the airborne wildfire detection.

The article presents an approach to increasing of the energy efficiency of the parallel technological systems based on optimal coordinated processes control and the principle of minimization of the energy consumption based on the optimal distribution of the capacities of the parallel processes with account of the local disturbances. The principle is based on the assumption that in order to reduce the energy consumption of a parallel system it is necessary to decrease its processes' capacities with a high level of local disturbances, preserving the required total system productivity by increasing the capacities of the processes with the low levels of the local disturbances. The assumption is based on the fact that, as a rule, the processes with a high level of the local disturbances have higher local energy consumption than the processes with a low level of disturbances. It is shown that the problem of the optimal capacities distribution is a task of a multiparameter optimization with constraints. The paper discusses implementation of this principle on the basis of a two-level control system with a coordinator. The coordinator's task is to compute the values of the optimal local capacities in real time based on information concerning the current values of the local disturbances. The values of the optimal local capacities are fed into the local automatic control systems, which implement the appropriate control actions concerning the local processes. The analytical and iterative algorithms for the optimal coordination of the local capacities values is considered. The analytical algorithm is based on Lagrange's method, while the iterative algorithm is based on the search for an active gradient solution. The paper considers application of the proposed approach for saving the energy consumption of an oil-production wells group. Here, the parallel technological system includes the oil-production wells as the local processes. The results of the numerical experiments show feasibility of saving energy by more than 5 % in comparison with a technological system without the optimal distribution of the productive capacities. Thus, the proposed approach can reduce significantly the energy consumption of a parallel technological system without an expensive modernization of its technology.

An approach is proposed to solving of the task of planning of reproduction of the broaching tools with the use of the residual life of its present composition. A criterion was formed for selection of the optimal solution - the minimal number of the tools (broaches), needed for a guaranteed performance of the task. The authors considered a procedure for estimation of the probability of implementation of the work assignment by a kit of manufactured broaching tools, based on the law of distribution of the number of the working tool cycles. An algorithm was developed for calculation of the minimal number of the necessary broaches, which ensured performance of the task with a set guaranteed probability. The algorithm for evaluation of the possibility of using the broaches with a residual resource envisages construction of a conditional law of distribution of the number of the cycles remaining before their disposal, depending on the number of the used cycles. Knowing the law of distribution of the number of the operating cycles of the new broach and the conditional law of distribution of the remaining cycles of the broaches with the remaining resource, it is necessary to calculate the probability, that a set of a predetermined number of the new broaches and the broaches with the remaining resource of the known values of the used cycles ensure implementation of the work assignment. A formula was derived for calculation of the probability of performance of the task by a mixed kit of broaches. The authors presented an example of calculation of the sought probability for a cassette with a mixed kit of four broaches. The algorithm for selection of the optimal mixed sets is based on formation of all possible versions of the use of the broaches with remaining resource and estimation of the probability of performance of the work assignment for each of them. In order to form a complete set of options of different numbers of new broaches and broaches with different residual resources the authors proposed an algorithm for generation of permutations with repetitions based on the lexical order. For selection of the optimal use of the broaches with the remaining resources a calculation was done of the probability of performance of the work assignment for each of the possible configuration options. The optimal option is chosen from the condition of performance of the work assignment with a probability, which is not less than the required guaranteed probability at the lowest costs for the purchase of new broaches. The results were presented of formation of options of the use of the existing broaches with the known residual resources, the reliability of each option was calculated, and recommendations were formed for selection of the best option, proving applicability of the proposed approach.