This work continues a series of artides devoted to an illustrative comparison of the methods of modern control theory and the method of Analytical Design of Aggregated Regulators (ADAR). The ADAR method suggests two ways to ensure a nonlinear system adaptability to the external and parametric perturbations. The first way is the use of the principle of integral adaptation, when the influence of the parametric or external perturbations is compensated for by the nonlinear control laws introduced by integrators in a spedal manner. The design pгoceduгe of the adaptive control laws, according to this way, does not require a synthesis of the state and perturbation observers and consequently eliminate a real-time estimation of these perturbations. The second way is a design of the nonlinear observers of the parametric and external perturbations. In this case the designed nonlinear control laws are supplemented by a subsystem of observation, which realizes a dynamic estimation of the nonmeteringperturbations and a compensation for them. The above ways are illustrated in the artide by the known control tasks: the task of a wheel slip control in an anti-lock braking system; and the task of identification of the parameters and monitoring of the state of electгochemical pгocesses in the cell membranes in accordance with Hindmarsh and Rose model. The examples of the design procedures presented in the article demonstrate the advantages of the ADAR method concerning the analytical design of the adaptive regulators for the nonlinear objects. The theoretical results were confirmed by simulation of the closed-loop system in MATLAB software.

This paper presents a brief review of the theory of the relay feedback systems. Analysis and synthesis of the relay self-oscillating systems is currently a classical topic in the control theory. The main problems of the theory are analysis of the possible self-oscillations, stability, estimation of robustness, and regulator design. The first works devoted to the analysis of the relay feedback systems appeared in 1950s. However, many problems concerning this theory are still unresolved. Systematization of the theory of the relay control systems and the definition of possible directions for research in future are presented in this article. The main attention is paid to the method of studying of the self-oscillating systems for the phase locus method. This method was developed in the Department of Automatic Control Systems of Tula State University. Introduction contains a brief historical review of the problems and methods for their solution within the framework of the theory of the relay systems of automatic control. The second section provides a brief review of the methods for studying of the self-oscillations in the control systems in the frequency domain. The main attention in this section is given to the methods, based on the Tsypkin locus. The third section deals with the methods of analysis and synthesis of the relay systems of automatic control in the state space. The method of the phase locus is considered. This method is applicable to the study of the systems with a nonlinear control object. Within the framework of this method, a synthesis algorithm was generated. The recent work within the framework of this theory was devoted to the synthesis of stable self-oscillating control systems. An analysis of the global asymptotic orbital stability of the self-oscillations in the systems with a linear control object in the form of linear matrix inequalities is considered, as well as the problems of designing of the digital relay controllers.

The article proposes an analytical design algorithm of a consecutive compensator in the control system of a plant with amplitude modulation. The modulation is generated by using an induction motor as an actuator. This type of systems is called "quasi-discrete" because an information transmission using a harmonic carrier signal is carried out by its half-waves, that means discretely such that a discrete interval is equal to the half-period of the carrier signal. The algorithm is based on typical polynomial models parameterized by characteristic frequency. Analytical representations of quality indicators of systems with typical polynomial model are presented in the article. The bandwidth is associated with the characteristic frequency at the level of small values of the amplitude frequency response of the system. At the same time, system quality indicators are associated with frequency of the carrier signal, this follows from the Kotel'nikov-Shannon's theorem. This became the basis of the proposed algorithm. Thus, the complete algorithm of the design of control systems with target quality indicators for plants with amplitude modulation is received in this work. Results are illustrated by an example of design of a servomotor drive with an AC motor. The main power frequencies of induction motors are 50 Hz and 400 (500) Hz. Therefore, the results are oriented to these values of the signal carrier frequencies.

The article describes a new approach to solving of the problem of the statistical identification of the impulse response function with the auto- and cross-correlation functions of a linear dynamic system in a digital form. This approach is based on the use of the sign-function analog-stochastic quantization as a primary analog-to-digital conversion of the input and output of the considered system. The basis of the sign-function stochastic quantization is the use of the random auxiliary signals, which perform the function of a threshold stochastic quantization. Sign-function analog-stochastic quantization allows a coarse binary quantization without a bias and regardless of the statistical properties of the investigated random signals. The binary representation of the input and output signals of the system made possible an analytical calculation of the operators of integration in the development of the digital algorithms for estimation of the impulse response functions. The main result of the use of the sign-function analog-stochastic quantization is the transition from processing of multi-bit samples of the input and output signals to processing of the integer values of the time intervals defined by the change of the sign of the quantization result. This improves the data processing in the identification system. The final algorithms obtained for the calculation of the digital samples of the impulse response function does not require preliminary estimates of a direct calculation of the auto- and cross-correlation functions. They can be used for an online identification in real-time. A practical application of these algorithms improves the performance of the digital statistical processing of the input and output signals of the system. A brief account of the algorithmic diagram is presented. It shows the sequence of the basic instructions to be performed for calculation of the samples of the impulse response function

The paper is devoted to the main trends in development of robotics. Its authors point out that in the next decade most of the civilian applications of robots will shift to the sphere of the consumer services. As far as the service robots for professional uses are concerned, considerable efforts will be concentrated on research and development in the field of transport, defense and security, in the extreme conditions of operation in the submersed and highly radioactive environments. The robots will clean the near-Earth space of the remains of the technological activities and will also become a part of the planetary defense against comets and asteroids. It is expected that the efforts of the developers will be aimed at creation and integration of new technologies for the ground-based and sea-based robots. Cooperative behavior and control of the heterogeneous groups of robots will be a challenging task for scientists. Particular attention will be paid to development of biosimilar technical devices, "soft" robots and biocompatible manipulators. The main tasks of the ground-based robots still are reconnaissance, search for people injured in the hard-to-reach areas, security, inspection and provision of access to the strategically important facilities, patrolling of buildings and territories, evacuation or on-site elimination of hazards. At that, a key element for improvement of the unmanned systems' efficiency will be their higher level of autonomy. The authors note that an important task of the robotics is to ensure an effective communication between humans and robots. The prevailing methods of communication will be gesticulation and speech technologies. A widespread introduction of robots will inevitably raise the question of the legal and social aspects of the human-robot interaction.

There are a series of non-linear dynamic objects (or systems), which is chaotic-nonregular [1-3]. In such systems dynamic chaotic processes (irregular movement), that is the phenomenon can be characteriZed as "desirable " (positive) or "undesirable" (negative) [1, 3]. In the present work, it has been proposed the method of designing automatic synthesis problem of intellectual control system (CS) with using of the elements of chaos theory, i. e. tuning parameters of knowledge base T-S controller, which provides the optimal quality of the vector criterion. The control object is a mobile robot that moves in all directions (omni-directional-OD), a mathematical model, of which is described by nonlinear differential equation [6]. For nonlinear object - OD mobile robot the control law is chosen in the intelligent controllers class with two elastic feedback: If X3(t) is about Mi. Then u(t) = KjX(t) + Gfi(t), where e(t) - is three-dimensional vector error, x(t) - is three-dimensional vector state of OD mobile robot. According to the phase variables and error, as well as the parameters Miopt of the term fuZZy sets of linguistic rules, it is required to determine such optimal matrices K°pt, G°pt of fuZZy T-S regulators which, while transferring of the systems from the initial state Xo, yo to the final state Xf, yf would assure optimality of the vector quality criterion, i. e. the minimum of integral square error - JJK, G, M], high damping degree of the oscillations - J^K, G, M] and minimum overshoot transient - J3[K, G, M] in the CS. In order to solve the above-mentioned problem, synthesis of the parameters of fuZZy controllers K, Gi can be implemented on the basis of chaos theory according to the vector criterion. The synthesis of controller parameters Ki, Gi and fuZZy term sets Mi are carried out by iterative procedure in accordance with system of automatic synthesis parameters (ASP) of fuZZy T-S regulators. Then, according to systems of simulation experiments it is determined G°pt, K°pt and M°pt, that provides the optimal values on CS vector of the quality criterion. The experimental results showed that the synthesiZed CS mobile robot is relatively efficient than synthesiZed system by well-known paper [1, 4, 6]. Since the total integral quadratic error of the control system synthesiZed by a known method [1, 6] was 0,2605 and above at 0,2113 the proposed method, i.e., quality is improved by about 18,8 %.

The article is devoted to development of a technique, which allows calculation of the welding mode of treatment of V-shaped groove for formation of a root seam. The technology of the multipass welding of MIG/MAG (arc welding in a mixture of the shielding gases) of the thick-walled structures is considered. An analysis of the problem statement demonstrated that the main problem is calculation of the penetration technique into the base metal for the V-shaped groove welding. Therefore, the authors proposed a proprietary technique for calculation of penetration using a finite element modeling (FEM). As a result, a heat input regressive model was developed for a particular form of the edge grooving, which is parametrized with respect to the gap and welding speed. For obtaining of an adequate penetration into the base metal, it is suggested to complicate the source model structure of the welding heat and to use the system of two heat sources of a "double ellipsoid" type. The analysis of penetration was done due to FEM solution of 3D heat equation, taking into account the melting and crystallization processes. The 3D heat equation task for the solid multiphase environment was solved. Further, an algorithm for calculation of the welding stability and feasibility was developed. The n2 dimensionless similarity criterion was used. The proposed method allows us to determine the stable welding conditions for the given range of the welding conditions variation by n2 criteria calculation without numerous welding experiments. Calculations of the sustainable modes of the root pass with 2,0...3,5 mm gap and 2,0...9,0 mm/s welding speed were performed.

The article describes the main electrochemical and geometrical approaches, and also their combinations intended to reduce the non-uniformity in electroplating of products. The identified drawbacks were taken into account in the approach proposed by the authors, which uses a modified amperage at each section of the anode, in order to reduce the non-uniformity of the coating layer. The essence of this approach is presented in a structural diagram and is explained in terms of the electrochemical processes occurring in the electric equivalent process in a multianode electroplating bath with different amperages. The proposed process in a galvanic bath with a number of anodes is considered as a control object, for which the input and output coordinates, external disturbance and control actions are described. The types of the evaluation criteria for the approach are presented. The task set in the article is that of the optimal amperage control on the anode sections in the process of deposition of a galvanic coating on a product in order to ensure the lowest unevenness in distribution of the coating layer in the shortest period of time. The authors consider approaches to a solution for the optimal control envisaging minima of the partial criteria and a subsequent search for the parameter of one-criterion problem for minimizing of the weighted squared deviations of each criterion from its optimum.

The paper describes the motion modeling of a fire helicopter with an external sling and a spillway device. The mathematical model of the fire helicopter with an external sling takes into account the effect of the stochastic disturbances for the sling caused by the rotor vibrations, gusts of wind and convection flows in the fire zone. The stochastic optimal control is synthesized with minimal sling oscillations and control power for its implementation. The solution is obtained due to dynamic programming. The resulting optimal control does not depend on the mass of a spillway device, but it is a function of a sling length. Thus, because of the changing sling length during motion, the length should be measured together with the sling deviation angle and the intensity of the stochastic disturbances. The temporal evolution of the system solution is done for various disturbance intensities. The computer calculation results are presented as a function of the suspension length and the intensity of the stochastic disturbances. Analysis of the results shows that the sling length affects significantly the value of the control signal, especially at high levels of the disturbances. A structure of the helicopter stochastic control system is proposed. It makes it possible to control oscillation of the external sling within an acceptable range. The system includes an oscillation angle, a sensor of the stochastic disturbance intensity and the sling length sensor. Thus, the helicopter control can be obtained through changing the thrust magnitude of the main and tail helicopter rotors.

The topic of the article is the aircraft optical-electronic systems for land-based objects sighting; those systems employ algorithms for solving of the problem of automatic discrimination of the objects defined by the mission input data according to the reference information. Random inaccuracies of the navigational data automatically reaching the radar range perimeter of the aircraft as well as inaccuracies of an adequate aspect angle development from the side of the sighting coordinator lead to the fact that an object entering into a camera's field angle has a random character. This fact has a decisive influence on the effectiveness of the use of an aircraft complex of integral guidance in respect to the specified object. For this reason, the probability estimate problem of object sighting by an airplane system in case of automatic reaching the radar range perimeter is topical and significant. The probability of an event, in which the object entering into the coordinator field angle on the radar range perimeter is specified by an equivalent probability of the event, in which the inaccuracy module of the coordinator's angular orientation with reference to a target does not exceed the value of a half of the coordinator's angular field in the vertical passage. The object sighting probability dependences of the coordinator's field angle and the radar range perimeter's distance are the following: the dependence rises with an increase of these values and falls with their decrease. An aircraft with the sighting system of a smaller field angle must be placed at a larger distance in front of the object for support of the same probability level. And, vice versa, a larger field angle of the coordinator supports a smaller distance of the radar range perimeter's location. The dependence of the probability of the object entering into limits of the sighting system field angle of distance is presented. The results of the article can become a basis for the techniques of analysis of a sighting system's functioning in discrimination of an object's defined multitude in different conditions of the aircraft automatic flight