This paper introduces a new approach to control of nonlinear non-stationary multichannel plant with lumped parameters and additive perturbations. Controlled plant is represented as a set of equations in matrix-vector form, with number of output variables equal to the number of controlled variables. The problem is stated as follows: to control plant output provided that output variables and state variables are observable. Plant equations are converted into a state dependent coefficient (SDC) form, then method of correction of plant dynamics and compensation of perturbations is used. A variant of conversion to the SDC form based on E. A. Barabashin’s method is suggested. Reverse models of the plant are defined with respect to reference and deviation channels. Algebraic equations are presented, which, when solved, yield reverse models. Definitions of etalon filters are introduced, allowing a physical implementation of a controller when used in conjunction with reverse models. Conditions to which matrices of etalon filters must conform are considered. It was found by examples that part of coefficients of etalon filters can be chosen arbitrarily. Using the method of correction of controlled plant dynamics and perturbations, utilizing reverse models and etalon filters, a physically implementable controller algorithm was constructed. Then it was transformed to physically implementable form using equivalent transformations. Components of the final algorithm are obtained by the means of algebraic transformations of functional matrices of the plant and etalon filter. Equations for closed control system are presented. It follows from these equations that system is asymptotically stable and that transient processes correspond with their respective etalon filters. Even though compensation method was used, a multichannel closed-loop control system was obtained. An advantage of suggested method is that it allows a simple procedure for the control algorithm synthesis using evident physical initial data. The efficacy of obtained algorithms was verified using several examples. Computer simulation showed that control systems are robust and comply with specified requirements. Directions for further research were suggested.

The authors investigate the problems of the development of the oil and gas complex at the last stage of operation, when oil is extracted by lifting. The main methods of lifting employed in the Russian Federation and the USA are described. A particular focus is placed on large water cuts at this stage of oil production. Literature on the issue under investigation is reviewed and the problem is set to analyze and construct models of oil production processes at the stage of well operation by lifting methods using network analysis (electrical circuits) in order to rationally manage all processes comprehensively. A typical flow chart of the oil production process by lifting methods is described. Technological processes of oil production are compared to processes in electric circuits. Thus the process of pumping purified formation water into injection wells by means of block cluster pumping units is similar to the process of recharging a battery using an electric power generator. The process of filling a production well with gas-liquid mixture displaced from the formation under pressure of injection wells is similar to the process of charging a capacitor from a battery, the process of lifting liquid from production wells using production pumps — to the process of discharging a capacitor on an active load. The simplified electrical diagram of a typical flow chart of oil production processes at this stage is given. Based on the given equivalent electrical circuit of technological processes, according to the laws of theoretical electrical engineering, models of the battery charging, capacitor charging and discharging processes are built. The table of correspondence of the parameters of technological and electrical circuits is presented on the basis of which the authors propose simplified models of the processes of pumping purified formation water into injection wells using unit cluster pumping stations, of filling a production well under pressure of the injection well, lifting liquid from production wells by means of suction pumps and conditions under which various operating modes of lifting processes are achieved.

The paper proposes a method of automated control of an overhead crane aimed at direct tracking of horizontal movement of the load at a set height to the designated position under the conditions of continuous a priori uncertainty of the load parameters and external disturbances. The latter include wind effects, friction changes in the crane trolley movement, etc. The approach replaces two conventional problems: tracking of the crane trolley movement to a set position and damping of angular oscillations of the load. In addition, the proposed control method is based on an adaptive control approach with an identifier and an implicit reference model using "simplified" adaptation conditions. The latter are reduced to the requirement of convergence of the identification residual at applying an algorithm for continuous identification and the selection in a certain range of constant evaluation of the control coefficient. The said evaluation is chosen sufficiently large in its absolute value to provide the largest margin of stability of the closed control system in amplitude with the required quality of control. In order to implement continuous parametric identification, it is proposed to apply recursive least squares method with a forgetting factor. The reference model is chosen in the form of an oscillatory link with an eigenfrequency not exceeding that of a controlled object with a fixed base and falling within an experimentally set range. For closer definition of the reference eigenfrequency, an evaluation of the load suspension length with an accuracy of at least 30 % is required. The simplest algorithm for obtaining such an estimate is proposed. It is based on the average velocity of the vertical movement of the load, which is generally approximately known. The paper proposes a simple algorithm for obtaining such an evaluation and provides the results of model studies of the efficiency of the proposed adaptive control system on the basis of the performance of the developed experimental overhead crane unit, taking into account the characteristics of standard data sensors and drives. The proposed method has demonstrated its high efficiency in a wide range of loads and disturbance conditions. It can serve as a basis for development of functional control systems for any type of cranes for moving suspended loads.

The solution of the multi-criteria problem, which includes the distribution of objectives, the planning of trajectories and the optimization of energy consumption, is considered in the realization of the collective interaction of robots. It is proposed to use a genetic algorithm according to the chosen conditions (constraints) and optimality criteria to find the best strategy for group behavior. The considerable difficulty in choosing how to control a team of autonomous mobile robots represents the distribution of tasks among agents that operate under conditions of parametric and information uncertainty, possess "modest" hardware, power and functionality. Therefore, the implementation of a multi-stage search for an optimal solution requires a specialized approach that takes into account the whole range of dynamic parameters, allowing for real-time target correction and degradation of robots until they fail. The basis of the proposed neurogenetic algorithm is a new algorithm for calculating the fitness function, in which the results of the neural network method of trajectory planning for a group of robots are used, as well as information about the initial charge of the batteries of robotic agents of the collective, the energy consumption of each agent and the preliminary estimation of the energy required by some agent to perform the individual tasks available to it. In order to ensure an acceptable performance of the algorithm and given the high dynamism of the external environment, it was decided to limit the search for solutions to only one step (the next working beat of the collective). The paper presents the results of the simulation of the task of finding the optimal behavior of robots, the algorithm of calculation of the specialized fitness function and the options of step-by-step search of the global strategy of distribution of tasks, which make it possible to increase the efficiency of the use of the team of robots due to the guaranteed production of the result while minimizing the total time of completion of all the tasks, as well as to increase the working time of the team due to the correct energy consumption.

The solution of task of increasing the productivity of robotic systems containing multilink manipulators is presented in this paper. Their actuators have power limitations. To solve this task, a method has been developed for automatic formation of extremely high reference speeds of their working tools. This method allows to maintain a set dynamic control accuracy, taking into account interactions between all degrees of freedom of these manipulators and restrictions on input signals of their electric drives. The created method consists in calculating the maximum allowable speed of the working tool of the manipulator. The main feature of the method is conditions for selecting required data for quick calculation of all necessary control parameters. A system for forming the speed of the working tool of the manipulator with three rotational degrees of freedom was synthesized based on the proposed method. These degrees of freedom are driven by DC motors. This manipulator can move working tools along arbitrary smooth spatial trajectories formed using third-order parametric splines. The performed simulation confirmed the high efficiency of the proposed method in comparison with other known methods for forming the reference speed. This method provides significant increasing of the reference speed of the working tools due to continuous operation of at least one of the manipulator electric drives near the saturation zone of its power amplifier without entering it. At the same time, the system speed was increased without reducing dynamic accuracy. The created method can be used to generate the extremely high reference speed of the working tools of manipulators with any kinematic schemes and various numbers of degrees of freedom.

The paper is devoted to the development of an algorithm for the dynamic synthesis of control signals of actuators ensuring the required paths and application of motion laws of the manipulator’s effector. A parallel-sequential structure (hybrid) manipulator has been considered, which consists of a manipulator-tripod on a rotary base and a sequential structure manipulator with three controlled degrees of freedom. The effector moves from a known position to a given final one by changing the lengths of the tripod executive links and the rotation angles of the sequential structure manipulator links. Nonlinear dynamic equations obtained using the Lagrange equations with undetermined multipliers and additional holonomic constraints have been considered as a mathematical model of the controlled manipulator motions. The manipulator motions are determined by the nature of the process operation performed. In the paper, the issue of implementing the program effector paths predetermined in a parametric form has been resolved. First, the manipulator joint trajectories satisfying the given boundary conditions are determined. To do this, the effector motion laws are presented in a discrete form, and a point set characterizing the successive positions of the tripod actuators is determined by solving the optimization problem for the manipulator configuration (positional problem) providing minimum changes in the executive link lengths at each point of the effector path. Then, these values are interpolated by either a finite set of third and fourth-order splines or interpolation of the first and last path sections by fifth-order splines and the technique of point-based quadratic approximation of the intermediate path sections. The technique for the synthesis of dynamic algorithms for stabilizing the effector relative to a given position and implementing the program paths is based on generating the control signals of actuators by solving the inverse dynamic problem using a control signal generation algorithm provided that deviations from the current program path values are the solutions of a second-order differential equation. The actuator control circuits are synthesized when building the trajectory control algorithm. The numerical simulation results have been given that confirm the operability of the algorithm proposed on an example of the effector translation.