The synthesis problem of linear stationary automatic regulation systems (ARS) with the given indicators of the dynamic quality of regulation processes occupies the important place in the theory and practice of the automatic systems’ construction. The given indicators are connected with the type and parameters of transient characteristics of the regulation systems. The initial requirements for the dynamic quality of ARS it is possible by formalize via the representation of the desired structure and parameters of the transfer function (TF) of the system namely amplification coefficient, zeros and poles. In mechanism of formation of the desired TF which is synthesized by ARS it is necessary to take into account the factor of compensation of zeros and poles of the controlled object. Although they are excluded from TF channel "setpoint — output" of the system, but become the poles of the synthesized system and will inevitably develop its dynamics under external perturbations. The effect of compensation of zeros and poles of the control object in ARS is analyzed in the first part of the article. And also the influence of the factor of non-minimal phase zeros for the dynamics of regulation systems is research. The given effect and its negative results are visually shown in the classical compensation approach to the synthesis of regulators by a priori given (desired, standard) TF of closed ARS. The classical polynomial method of the modal compensators synthesis, the principle deficiency of which is the appearance of uncontrolled ("parasitic") zeros is presented in the second part of the article. The new regulation schemes combining the functional possibilities of the compensation and modal approaches are suggested. Two methods of ASR synthesis with desired poles and zeros of the system, excluding the effect of the appearance of "parasitic" zeros, are discussed and analyzed. In the first method the sequential and parallel correction links (CL) are included into the regulator’s structure. The latter one contains small constant time which generate rapidly damped modes. One may neglected by their influence on the regulation processes. The sequential CL is also used in the second method, but instead of parallel CL modal feedback (MFB) is used. In this case the key value has the invariance property of the zeros of object’s TF when closing its MFB. The possibility of compensating unwanted left zeros of an object that fall within the localization region of fast-fading mode spectra is discussed.

The paper considers ways of intellectualizing the control processes of autonomous underwater vehicles (AUVs) by the example of solving three problems, on which the successful use of AUVs largely depends. The first problem is to create an AUV control system (CS), which ensures the achievement of the mission’s objective in the event of emergencies caused by both external and internal reasons, as well as deliberate and unintentional counteraction. It is shown that for the construction of the AUV’s CS the decentralized multi-agent structure is most suitable, in which each AUV system is an independent intellectual agent with its own control system. The control system must be equipped with a set of adaptive algorithms that ensure: control of AUV in the event of emergency situations, taking into account restrictions on the supply of electric energy, speed, accuracy of autonomous underwater navigation, range of hydro-acoustic communication; rational distribution of energy resources by AUV systems in accordance with the current situation; maintaining the functional stability of the AUV with a partial malfunction of technical means. The second problem is to create an underwater navigation system that ensures the accomplishment of AUV missions at great distances from the base point. Since AUV navigation using only on-board means (inertial navigation system and lag) does not provide the necessary accuracy, a prerequisite for AUV navigation over long distances is to conduct an observation using external sources, the choice of which in the circumstances is a non-trivial task. The third problem is to create a network underwater communication system (NUCS), which provides for the group application of AUVs. The ground analogue of NUCS is network radio communication. But if the latter is fairly well developed, then the former only takes the initial steps. This is due to both the later practical relevance of NUCS, and many fundamental physical factors that impede the development of NUCS, which include: a substantially limited frequency band that can be used in practice for signal transmission; a large propagation time of the hydroacoustic signal compared to the radio signal; the formation of extended shadow zones and fading of the connected signal due to its multipath propagation; significant Doppler distortions, fast variability of the characteristics of the hydroacoustic medium.

In this paper, we consider the problem of a road train path-following on a curved path with an optimal velocity. To solve the problem, we propose a control algorithm based on the coupled model predictive control strategy. Model predictive control assumes the computation of a control sequence by solving an optimal control problem on a finite horizon for a current state of a nonlinear time-varying system. We use the truck steering angle and road train acceleration as control inputs. We describe the road train longitudinal and lateral dynamics using an implicit nonlinear model in continuous time. To derive a discrete linear time-varying state-space prediction model describing the deviations of system dynamics from a reference path we use the Euler method to discretize the original system and compute analytical formulae for its Jacobian by MATLAB Symbolic Math Toolbox. We calculate the reference path and corresponding reference values of the state vector applying the well-known geometric techniques, which utilize the path coordinates and its curvature information. We take the reference values of a truck and a semitrailer yaw angles to be equal. Thus, the reference value of the jackknifing angle is zero. The calculations of reference velocity take into account its skid and rollover limits. To validate the proposed path-following algorithm on the road train we design a simulation model in Simulink. The paper presents the simulation results of testing the movement of a road train along a given path for various values of the reference speed. We show that the algorithm provides high enough reference path-following accuracy, vehicle reference speed tracking, and low values of the jackknifing angle on the speed values up to 18 m/s and curvature radii down to 250 m. The proposed algorithm can be used in ADAS-systems and autonomous vehicles development.

The paper gives overview of modern research on planning and scheduling of new generation of large groups of satellites, analyzes current methods and algorithms of planning and scheduling, considers their practical applications and main future trends. The list of requirements for developing new methods and algorithms for planning and scheduling is identified. The problem statement is formulated which shows multi-objective complexity of planning and scheduling for groups of satellites. A number of conflicting requirements are identified generated by demands and resources, including fast changing meteorological parameters, ballistic constraints, video cameras restrictions, satellite battery constraints, ground stations and communication lines requirements, etc. It is shown that the main part of developed methods and tools is still oriented on centralized control of resources and based on different heuristics for reducing exhausted combinatorial search of globally optimal options. These methods and tools do not consider networking nature of new generation of satellites groups which requires negotiations and conflict solving among orders and satellites in future. These new generation of satellites groups also requires high adaptability and flexibility, individuality, scalability, performance and reliability of future groups of satellites. One of new trends in adaptive planning and scheduling is multi-agent technology where agents of demands and resource can make matching on virtual market. But it requires new efforts not only on new generation software developments for designing open self-organized systems ("swarms of satellites") but also on direct communication between satellites and ground stations. Developing such smart swarms of satellites will provide new features, benefits and values for customers.

A task of a pair formation flying satellites optimal relative motion control is described. It is presented as a Lagrange problem of satellite relative motion by the criterion of the control acceleration minimization. The сontrol acceleration term corresponds to the term of a fuel flow or a satellite specific impulse. On the basis of a Hill-Clohessy-Wiltshire equation a mathematical model of the relative motion of a pair of satellites is obtained. One satellite is controlled and another is noncontrolled. Analytical description of such relative motion is presented. The optimization criterion considers control acceleration minimization with fixed boundary conditions and a fixed time interval. The system of Euler-Lagrange equations is obtained as a necessary condition for the extremum existence. An analytical solution for the Lagrange problem is obtained. Relative motion simulation for given examples is performed. The example studies relative motion by distance, relative attitude and lateral deviation parametres and four time intervals, corresponding to half orbit length, one, two and four orbit length. The correlation of optimization criterion value and duration of the maneuver is determined. Direct dependence between duration of maneuvers, control acceleration magnitude and control acceleration costs is presented. Correlation between duration of maneuvers and shape of the optimal trajectory is studied. Practical application of this paper results is discussed. An algorithm of a formation flying relative motion control is provided. The algorithm includes stages of an initial relative position definition, the required relative position and duration of a maneuver definition, constants of integration evaluation, optimal control acceleration synthesis.

The optimal flight safety management of an aircraft is considered, on the basis of which the signal for parrying the threat of an aviation accident is calculated. In the process of analyzing the factors affecting the flight safety of the aircraft, the psychophysical state of the crew, the serviceability of the aircraft’s onboard equipment and the flight weather conditions are separated into separate groups. Based on the performed analysis, a target function of aircraft flight safety management is proposed in the form of a maximum, which is provided by the output signal of the aircraft flight safety management system. The calculation of the control signal is based on a count state of the flight conditions of the aircraft, which allows us to estimate the causal relationship of the factors of threat of the accident, and to determine the control signal with the safety of the vessel. In the course of this work, an algorithm for calculating the aircraft safety control signal has been developed. The results obtained during the work can be used for software and hardware implementation of aircraft flight safety management systems, as well as for the design of systems and complexes of its onboard equipment.