This paper considers a nonlinear positive control system of autonomous intellectual agent’s motions. Single or multiple intellectual agents are capable of independent decision-making to achieve an odor source or radioactive source. Various biologically inspired behaviour-based approaches, such as chemotaxis, the moth inspired casting algorithm, flocking behavior and foraging, population development or species interaction are used for creation of control system of an intellectual agent. The agent is a tracking system, for example, unmanned aerial vehicle or a multicopter. The intellectual agent searches hazardous pollutants in dangerous environments. The task of a flying robot is to find the source of invisible pollutions. The aim of this work is to synthesize the control law, that provides a predetermined degree of exponential stability in a closed-loop positive system based on Lotka—Volterra equations. The methods of optimal control theory are used in the synthesis of the system. Asymptotic stability is achieved by solving the Riccati equation. The stability of the control system is an important criterion of quality to be ensured. Therefore, the intellectual agent is able to control the movements to the right and to the left, reaching the source. With the model proposed we provide the simulation and experimental results, which correspond to the quality metrics required. In this work, the control system has a given degree of exponential stability and the transient response, which confirms the possibility of using the model proposed in terrestrial mobile robots, unmanned aerial vehicles, autonomous underwater vehicles and other robots in searching a large area.

In the article the class of linear stationary objects with a scalar input is considered. The purpose of control is formulated in the form of tracking the output of the control object for a given input reference. At the same time, the principle of the internal model is used to form a generating model of the input reference. The solution of the representation subtask with a predetermined finite precision of a time-discretized input reference in the form of a linear expansion on the basic functions corresponding to the roots of the desired characteristic polynomial of a discrete linear dynamic system (generator) is considered. By using the continualization, a continuous, linear generating model of the input reference with non-zero initial conditions and input is constructed in the state space, coinciding in dimension with the model of the control object. The generating model makes it possible to formulate the control goal in the form of tracking the state vector of a closed system with the state vector of the generating model. In general, the generating model may not be stable. Therefore, the desired rate of convergence of the tracking error vector is given by the Hurwitz reference model. The developed method of generating the generating model is considered in the context of solving the general problem of the synthesis of the tracking algorithm.

This paper proposes a filtering algorithm based on the use of not only the residuals between the measured and estimated coordinates, as in classical filtering algorithms, but also multiple integrals of these residuals. Classical filtering algorithms use reliable information about both the motion and measurement models and the statistical characteristics of the input random disturbances and measurement noise. The real control objects operate under conditions of action not only of highfrequency random disturbances, but also under the influence of low-frequency forces and moments from an aggressive environment, the characteristics of which are known with huge approximations. In this regard, the efficiency of using classical filtering algorithms for real systems is extremely low due to large errors. The algorithm proposed in the paper allows to eliminate these drawbacks by restoring external low-frequency disturbances in real time. Under external disturbances are understood not only external influences from the environment, but inaccurate knowledge about the motion model itself. For integral residuals, an algorithm is proposed for calculating the gains in the feedback in an analytical form. This algorithm is based on the processing of residuals, as well as estimates of external disturbances and their derivatives in the current time. A control algorithm is proposed that includes estimates of both phase coordinates, which are responsible for the quality of transients, and estimates of unknown disturbances, which is responsible for the compensation of external disturbances. Knowing the estimates of external disturbances in real time will, on the one hand, improve the quality of control, and, on the other hand, reduce the time and material costs associated with the study of the control object’s movement dynamics and the external environment. Using the example of an underwater vehicle model described by a linear system of differential equations under conditions of external disturbances (wave and hydrological forces and moments), the simulation was performed and the efficiency of the proposed algorithms for various numbers of integral residuals was shown.

A novel robust algorithm is proposed for control of plants under parametric and structural uncertainties, as well as, external bounded disturbances. The algorithm design is based on the modified backstepping approach that allows to compensate mismatched disturbances under presence of nonlinearities. The obtained results are extended to control of network systems with nonlinear agents and with nonlinear links in the presence of mismatched disturbances. Effectiveness of the proposed algorithm is demonstrated on control of a distillation column which is described by parametric and structurally uncertain differential equation in presence of external bounded disturbances. It is assumed that only scalar input and output of the distillation column are available for measurement, but not their derivatives. The developed algorithm provides output tracking of a smooth bounded reference signal with a required accuracy at a finite time. The synthesis of control algorithm is separated into ρ steps, where ρ is an upper bound of the relative degree of the distillation column model. Therefore, the dynamical order of the proposed algorithm is equal to ρ. The sufficient conditions of the closed-loop stability is formulated and proved by using methods of stability of singular perturbed differential equations and Lyapunov functions. The simulations illustrate effectiveness of the proposed algorithm and confirm analytical results.

In the process of the mechatronic system functioning respective effective output parameters and parameters of its internal system state are generated. Preliminary selection of composition of the indicated parameters is a rather complicated task due to objective complexity of systems, availability of evident and latent interrelations between parameters. This task is complicated due to the necessity of simultaneous reduction of dimension and variation of control procedures and management in the mechatronic system. Solution of this problem may be attained with the aid of preliminary expert and empirical studies of complex models and mock-up specimens of designed mechatronic systems. In this regard, this work contains presentation of methodological aspects of adequately supported formation of composition of controlled parameters, their tolerance limits and other system features required for intellectual management. Rational sequence is described for performance of focused researches in order to reveal most important effective output parameters and parameters of internal system states. In accordance with the proposed algorithm the initial information and parameter picture of the intelligent mechatronic system is formed, studied and revised, its group expert evaluation and subsequent "thinning-out" of lists of its constituent parameters. A regression model is developed, which determines the form of interrelation between the parameters, as well as of the correlation model, which allows assessment of the volume of statistical interrelation between the system parameters. In the process of model analysis extremely weak dependences are detected between parameters, negative collinearity of factor variables is eliminated.

In present paper we consider the damping properties of the oscillating system with hysteretic nature. The mathematical model of considered system is based on the operator approach for the hysteretic nonlinearity on the example of Ishlinsky material. Such a converter is a continual analogue of the set of stops connected in parallel. In the frame of the paper we compare the various approaches to modeling of damping systems. Namely, together with the hysteretic damper we consider the so-called nonlinear viscous damper which is a generalization of a standard linear damper with dependence on the velocity. The mathematical model of the considered system is formulated in terms of second order ordinary differential equation with hysteretic nonlinearity (namely, the operator-type nonlinearity). In comparison with the phenomenological models of hysteresis (such as Bouc-Wen model) that are often used in the modeling, the Ishlinsky model allows to " feel" the hysteretic nature of the material on the physical level. The major result of the presented paper is the comparison both the hysteretic and viscous (including the linear and nonlinear cases) dampers. Such a comparison is made in terms of transmission functions that reflect the "efficiency" of suppression of the external perturbations by the force transmission from an external source to the load. The results of numerical simulations showed the high efficiency of hysteretic damper both in and outside the resonance region (at the same time it is well known that the linear viscous damper has a weak efficiency outside the resonance region). The disadvantage of the hysteretic damper lies in the fact that its ability to dump the relative motion of the system under external forces is insignificantly reduced outside the resonance region.

An algorithm of adaptive estimation of rotor flux and angular position for the salient synchronous motor with permanent magnets is presented. A new nonlinear parameterization of the dynamic motor model is proposed. Due to this parameterization the problem of position estimation is translated to the task of identification of unknown constant parameters. During the synthesis of estimation algorithm the currents and voltages of the stator windings, as well as the rotor speed, are assumed to be known signals. Two variants of the adaptive observer based on the standard gradient estimator and the algorithm of the dynamic extension of the regressor are proposed. It is proved that the both versions of the observer provide global exponential convergence of estimation errors to zero if the corresponding regression function satisfies the persistent excitation condition. Also, the latter version of the observer provides global asymptotic convergence if the regression function is square integrable. The results of numerical simulation demonstrate that the algorithm with the dynamic extension of the regressor provides a better quality of estimation transient processes in comparison with the standard gradient estimator.

In the course of the plane flight the onboard intellectual systems of tactical level (BIS-TU) operatively are solving the problem of the appointing of the current goal of the flight and the problem of the designing of the way of achievement of this goal. The problem of the appointing of the current goal of the flight is solved by intellectual information system "Situational awareness of crew" (IIS SAoC) and onboard operatively advising expert system "Operative goal-setting" (BOSES goal-setting). The problem of the appointing of the current goal of the flight is solving by the intellectual information system "Situational awareness of crew" (IIS SAoC) and the onboard operatively advising expert system "Goal-setting" (BOSES goal-setting). Among the found out the potential threats the IIS SAoC allocates the direct threats (D-Threat). The priority D-Threat is transferred (as the collision "The current stage of the flight — the arisen D-Threat) in BOSES goal-setting which recommends the current purpose of the flight for the crew. If the crew accepts this recommendation the corresponding onboard operatively advising expert system "The designing of a way of achievement of this goal of flight" (the BOSES TS "The appointed goal of the flight ") joins. It is designing the way and is recommending it to the crew for the realisation. If the appointed goal has been worked in the flight task the advance prepared way will be recommend. The work of the BIS-TU in the flight conditions of the passenger plane TU-124 which in August 1963 has been compelled to land on the river Neva in the centre of Leningrad is illustrated. Conditionally the plane is having equipped by the BIS-TU and by the measuring systems which necessary for their work. We will describe the role and the result of the work of the BIS-TU in the collisions which have arisen in the flight.