The output feedback algorithm for dynamic plants with compensation of parametric uncertainty, external disturbances and measurement noises is synthesized. The plants are described by a nonlinear system of differential equations with vector input and output signals. Unlike most existing control schemes in this paper the dimensions of the measurement interference and the output signal are equal, the sources of the signals of disturbances and disturbances are different, parametric and external disturbances can be present in any equation of the plant model. For simultaneous compensation of disturbances and measurement noises it is proposed to consider two channels. On the first channel a part of the measurement noises will be estimated which will allow partial recovery the information about the plant noisy output. On the second channel the disturbances will be compensated. Thus, at least two independent measurement channels are required for simultaneous compensation of disturbances and measurement noises. Sufficient conditions for calculating the parameters of the algorithm in the form of solvability of the linear matrix inequality are obtained. It is shown that the equation of a closed-loop system obtained on the basis of the proposed algorithm depends on the disturbances and the smallest component of the measurement noise. However, if the smallest component cannot be identified a priory, the results of the transients depend on the component of the noise that will be selected in the synthesis of the control system. Thus, unlike most existing control schemes, where the equation of a closed-loop system depends on disturbance and noise, the resulting algorithm provides better transients, because they do not depend on the entire noise vector, but only on its smallest (one) component. The simulations for a third-order nonlinear plant and the synchronization of an electrical generator connected to the power grid are presented. Numerical examples illustrate the effectiveness of the proposed scheme and the robustness with respect to random components in the noises and disturbances.

Control systems with the increased astatic order provide higher accuracy and consequently their application is expedient at the solution of many control problems. In particular, it concerns to digital systems which have higher adaptability to manufacture and reliability. However the task of the digital systems design is a little bit more difficult in comparison with a similar task in a continuous case. Article is devoted to the solution of a design problem of the discrete automatic systems, which realization is carried out on the basis of a control principle on output and impacts. Standard normalized transfer functions (SNTF) are convenient means for the problem solution of the control systems design with the required direct quality indices. The method of the desirable transfer functions formation for the digital control systems on basis of the continuous systems SNTF is suggested in article. This method follows from the theorem proved in this article and consists in carrying out of the z-transformation suitable tabulated SNTF of the continuous system and some updating of the received function. The formation method of the desirable transfer functions of the digital systems with the second order astatic, constant overshot and final duration of transients is suggested in article also. The control systems with such properties of transients have the increased order; therefore microcontrollers with high speed are required for their realization. Efficiency of the suggested methods is illustrated by numerical examples.

The solution of the problem of controlling the arc welding process by robotic technological complexes by the quality criterion of the produced products is proposed in this paper. The statement of the problem is given, the criterion of the quality in the form of the goal function is described. The mathematical models based on the principles of J. Forrester’s system dynamics is developed. The main indicators that affect the quality of the welding process in RTC and their relationships are identified as system levels. The external factors that depend on the indicators and affect them are also defined. The functional dependencies of the indicators were obtained as a result of approximation of statistical data based on long-term observations of the process. A system of the differential equations that describe the cause-effect relationships between the indicators and the factors is developed. Based on the mathematical model, an algorithm for the search for control actions, the implementation of which minimizes the goal function was developed. The developed models and the control algorithms might significantly improve the quality of the arc welding process. The proposed software is testing as a part of the RTC Kawasaki technical control system at OJSC "Transmash" (Engels, Russia).

When performing certain technological operations, multi-coordinate industrial robots require simultaneous control of the movement of the executive body and the developed effort. When performing assembly operations (for example, a shaft with a bush), it is necessary to perform a free movement of the shaft along the bore of the bushing and to ensure minimum pressure on the bore walls. When performing operations to handle complex surfaces of parts, it is simultaneously required to move the tool over the surface at a specified speed and to perform a metered pressure on the surface. Since it is impossible to control the force and motion simultaneously at the same coordinate, it is necessary either to switch from one control method to another, or to control various actuators and different controllable coordinates of the actuator. In multi-coordinate robots, this task is complicated by the fact that to control the movement of one of the Cartesian coordinates of the executive body, and by another force, it is simultaneously necessary to control the interrelated generalized coordinates of the robot’s mechanism. In the work presented, the solution of the problem of control of a six-coordinate industrial robot is described, in which the separation of the degrees of mobility into power control and positional control of trajectory motion is carried out. In order to accomplish the task, additional variable parameters are introduced for the treatment of complex surfaces, which determine the position of the cutting edge on the cutting surface, which makes it possible to expand the service area of the robot during selection, for example, one of the coordinates for controlling the pressure force. This task is considered using the example of a six-coordinate industrial robot when performing a complex surface treatment operation, when it is required to program the tool at a specified speed along a path on the surface and at the same time carry out the controlled pressure of the tool on the surface.

The article is devoted to the development of algorithms for terminal control of mobile objects. A moving object of multicopter type described by a nonlinear model of motion of a solid body in three-dimensional space is considered. A three-stage procedure for solving the problem of terminal control of a moving object when it moves to a given point is proposed. The main difference of the proposed procedure is the correction of the desired trajectory so that it passes through the current position of the moving object at each moment of time. This method of constructing the desired trajectory allows you to automatically adjust the speed when moving to a given point. The need for correction of the desired trajectory can be caused by the presence of obstacles, differences between the model and the real object, and the influence of external disturbances. At the first stage, the desired trajectory taking into account a given finite time of motion is constructed. The motion trajectory represents the desired velocity and orientation angles of a moving object of multi-copter type. At the second stage, the method of position-trajectory control is used to synthesize feedback, which provides stabilization of the moving object relative to the calculated desired trajectory. The result of the second stage is the thrust and torque generated by the motors, which are then recalculated in the speed of rotation of the rotors. At the third stage, the desired trajectory is corrected depending on the current position of the moving object. As a result of the correction, a singularity occurs at the target point. In order to eliminate the singularity at the target point, the problem is solved in the formulation of weak terminal control. Before the target point hits the given neighborhood, the velocity of the moving object is calculated based on the remaining distance and time of movement. When a given neighborhood of the target point is reached, the speed of movement becomes constant. The analysis of the closed-loop system is carried out, as a result of which the asymptotic stability of the desired trajectory and the hit of a moving object in a finite given neighborhood of the target point at a finite time are shown. The results of numerical modeling, confirming the performance of the proposed algorithms in the example of hexacopter, are presented.

A problem of a formation flying control is observed. As an example a concept of a multysatellite configuration ("space commercial") is described. Space advertisement is realized by groups of specialized free flying and cable-connected satellites, and their combinations. Construction of a space commercial satellite and a set of a control system equipment is presented. Several methods for group configuration are presented: periodic impulse correction of each flying satellite position formation; method of a satellite positioning on nocoplanar orbits. Other methods include combinations of methods mentioned above. Configuration control using onboard video camera with a wide-angle image detector is presented. Characteristics of an optical system are shown. Navigation parameters of a using a received observed videoimage are estimated. A method of a relative position measurement is described. The method detects a video track of a moving ahead satellite on the matrix detector. According to the method lines of the matrix detector are positioned transversely and columns are positioned in parallel with vertical axis of the orbital coordinate system. Course of the slave satellite is proportional to the travel of the centre of the lider satellite mark on the matrix detector columns. Pitch of the slave satellite is proportional to the travel of the centre of the leader satellite mark on the matrix detector lines. A video-display processing algorithm is developed and researched. The algorithm contains procedures of a forming, localization of the leader satellite mark, deviation angle calculation. The algorithm uses structural method, detecting bright spots (image syntactic characteristics). Efficiency of the algorithm depends on the leader satellite mark brightness, size, light-striking, distance.

In the focus of this research are the concept of construction and the architecture of the ergatical interface of a prospective aviation complex using integrated modular avionics, which are based on the methodology of rational coordination of the aggregate properties of human operator interaction, technology and the image forming module of the management goal and application in the interests of increasing the efficiency of crew activity and flight safety. Information display and control systems, which are based on digital electronic devices and integrated information management, with the separation of the time of operations for monitoring and displaying data and providing the most convenient form of information representation, are examined in this article. In such systems, only the information that the pilot needs for a given flight mode is reproduced, or called upon them on demand. Wide opportunities in varying the volume and type of presentation of individual parameters depending on the flight modes require engineering and psychological justification for the principles of rational information support for the pilot in the process of solving professional problems. The results of comparative studies of the principles of mapping the spatial position of aircraft for three types of indication are presented: "view from aircraft to ground" (type 1), "view from ground to plane" (type 2) and "view of aircraft and "leader" from another aircraft located behind at the same altitude and ground sp eed" (type 3), which showed the advantages of the third type of indication — information command-leader display. This type of indication provides the pilot with the geocentric image of the flight relative to the earth’s normal coordinate system, the directions of which are the vector of the ground speed, the gravitational vertical and the horizon line, and the image of the control objective and app lication in the form of reflection of change in attitude and change in the configuration position in accordance with the "do as I do" management principle. The possibilities of using IMA-technology and mnemonic frames with information command-leader indication, which allow to increase the efficiency of the crew of multifunctional aviation complexes, are presented.