Mekhatronika, Avtomatizatsiya, Upravlenie最新文献_第2页

Generation of Smooth Reference Trajectories for Unmanned Wheeled Platforms Considering Automatic Constraints On Velocity, Acceleration and Jerk 为无人驾驶轮式平台生成平滑参考轨迹，同时考虑对速度、加速度和颠簸的自动约束

Mekhatronika, Avtomatizatsiya, Upravlenie Pub Date : 2024-06-06 DOI: 10.17587/mau.25.320-331

J. Kokunko, S. A. Krasnova

{"title":"Generation of Smooth Reference Trajectories for Unmanned Wheeled Platforms Considering Automatic Constraints On Velocity, Acceleration and Jerk","authors":"J. Kokunko, S. A. Krasnova","doi":"10.17587/mau.25.320-331","DOIUrl":"https://doi.org/10.17587/mau.25.320-331","url":null,"abstract":"The problem of generating smooth and achievable trajectories for the center of mass of unmanned wheeled platforms approximating a reference sequence of waypoints considering time is considered. A typical solution consists in spline interpolation of separate route sections with their subsequent stitching. At the same time, the problem of satisfying constraints on robot motion features such as velocity, acceleration, and jerk requires additional algorithmization. In contrast to labor-intensive analytical methods, this paper proposes a fundamentally new approach, simple in computational implementation, which provides dynamic smoothing of primitive trajectories. The principle of organization and method of designing an autonomous dynamic model (tracking differentiator) whose output variables, while tracking a primitive non-smooth trajectory, generate smooth curves whose derivatives do not exceed the design constraints of a particular robot and are achievable reference trajectories for it. Block control principle and smooth and bounded S-shaped sigmoidal local links are used to design the differentiator. The paper presents a procedure for setting up a three-block tracking differentiator, whose variables generate a smooth reference trajectory, as well as its first and second derivatives, in a signal pocoordinate form. It is shown that the developed procedure extends to tracking differentiators of any required order without limitation of generality. In particular, the structure and setting of a single-block tracking differentiator for obtaining express results at the stage of robot or polygon motion planning is specified. Numerical simulation results confirming the efficiency of the designed algorithms are presented.","PeriodicalId":36477,"journal":{"name":"Mekhatronika, Avtomatizatsiya, Upravlenie","volume":"4 1","pages":""},"PeriodicalIF":0.0,"publicationDate":"2024-06-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141376855","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Industrial Robot Remote Control using Virtual Reality Interfaces 利用虚拟现实界面远程控制工业机器人

Mekhatronika, Avtomatizatsiya, Upravlenie Pub Date : 2024-06-06 DOI: 10.17587/mau.25.306-314

A. I. Iusupova, V. Titov, A. V. Sergeev

引用次数: 0

The Output of a Group of Aircraft to a Given Position at a Given Time 一组飞机在特定时间飞往特定位置的输出量

Mekhatronika, Avtomatizatsiya, Upravlenie Pub Date : 2024-06-06 DOI: 10.17587/mau.25.315-319

A. V. Sukhanov

{"title":"The Output of a Group of Aircraft to a Given Position at a Given Time","authors":"A. V. Sukhanov","doi":"10.17587/mau.25.315-319","DOIUrl":"https://doi.org/10.17587/mau.25.315-319","url":null,"abstract":"The article considers an algorithm for controlling a group of aircraft providing a given location of aircraft in space at a given time. When controlling a group of unmanned aerial vehicles, it is often necessary to bring them to the specified positions at a given time. Reachability areas and optimal control methods can be used to bring aircraft to specified positions. The application of reachability domains for solving problems of controlling a group of aircraft is considered. The article also provides an analysis of the method of calculating the reachability areas and an example of calculating the reachability areas of a rocket. A problem for a group of aircraft is considered, for which reachability domains are used in a group way. Aircraft with specific characteristics and initial parameters are used for modeling. The task is solved in two stages. The reachability regions in the vertical plane are approximated by triangles. The equations were integrated by the Runge-Kutta method with a constant step. For an aircraft whose motion is determined by a system of equations with a control constraint under given initial conditions, it is necessary to define a control program that provides a minimum of functionality. Thus, the optimal control problem is reduced to a boundary value problem: to find a solution to a system of equations whose phase coordinates satisfy the initial conditions and boundary conditions. In addition, according to the maximum principle, the Hamilton function under optimal control should reach a maximum. Moreover, the control must satisfy the restriction. The construction of reachability areas and the choice of programs based on the maximum principle makes it possible to bring a group of aircraft to a given position at a given time.","PeriodicalId":36477,"journal":{"name":"Mekhatronika, Avtomatizatsiya, Upravlenie","volume":"6 3","pages":""},"PeriodicalIF":0.0,"publicationDate":"2024-06-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141378591","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Network Information Interaction of Swarm Agents: Technical and Software Implementation 蜂群代理的网络信息交互：技术和软件实现

Mekhatronika, Avtomatizatsiya, Upravlenie Pub Date : 2024-06-06 DOI: 10.17587/mau.25.295-305

A. Gulay, V. M. Zaitsev

{"title":"Network Information Interaction of Swarm Agents: Technical and Software Implementation","authors":"A. Gulay, V. M. Zaitsev","doi":"10.17587/mau.25.295-305","DOIUrl":"https://doi.org/10.17587/mau.25.295-305","url":null,"abstract":"The features of the structural and functional construction of an intellectual swarm system due to the specifics of the information interaction of its agents are analyzed. Discussed the following concepts of managing agents are given: individual agents implement individual movement processes and the swarm is considered as an unmanaged cloud formation; a collective movement of agents is performed, in which the swarm is a single controlled entity. The enlarged composition of the technical, information and software of the main components of the swarm system is given: the central control body of the system; local control bodies of overlay leaders; on-board navigation and agent control systems. It is shown that for multi-agent systems, it is fundamentally necessary to organize the flow mode of asynchronous supply of information blocks in the form of digital packets to computing equipment. With this in mind, a generalized scheme for organizing the functioning of asynchronous processes in a swarm system is constructed. This scheme is based on the use of hardware information interruption mechanisms associated with the supervisor of the operating system processes. The tasks of the swarm system supervisor are defined, which are to ensure initialization, priority launch for execution and mutual synchronization of main types of software processes. The essence of the method of pseudorandom adjustment of the operating frequency in the agent’s radio communication is revealed.","PeriodicalId":36477,"journal":{"name":"Mekhatronika, Avtomatizatsiya, Upravlenie","volume":"138 4","pages":""},"PeriodicalIF":0.0,"publicationDate":"2024-06-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141375940","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Algorithms for Controlling Dynamic Systems under Uncertainty. Part 1 不确定性条件下的动态系统控制算法。第一部分

Mekhatronika, Avtomatizatsiya, Upravlenie Pub Date : 2024-06-05 DOI: 10.17587/mau.25.279-288

V. I. Shiryaev

{"title":"Algorithms for Controlling Dynamic Systems under Uncertainty. Part 1","authors":"V. I. Shiryaev","doi":"10.17587/mau.25.279-288","DOIUrl":"https://doi.org/10.17587/mau.25.279-288","url":null,"abstract":"The paper considers the control of dynamic systems (DS) in situations with a high level of uncertainty caused by disturbances acting on the DS and interference in information channels during operation. Uncertainty results from the action of various external disturbing factors, uncontrolled changes in the object properties, and equipment failures and malfunctions. A peculiar feature of these control problems is that they are single events. In these conditions, the synthesis of positional control of dynamic systems is considered based on the minimax approach — worst-case design. The mathematical model of processes is characterized by disturbances and measurement errors known with a precision up to sets. The DS state vector is known with a precision up to membership in the information set as a result of solving the estimation problem. The proposed approach combines N. N. Krasovsky’s control concepts under information deficiency and A. A. Krasovsky’s concepts of building self-organizing systems. The “principle of a guaranteed result” was chosen to synthesize DS control. A control problem is solved in two stages in incomplete information. At the first stage, the state vector estimation problem is solved. The paper considers several implementations of estimation algorithms. It also proposes a minimax filtration algorithm based on the use of three filters (minimax filter (MMF), Kalman filter (KF), and guaranteeing filter (GF)) which can increase the estimation accuracy and make the proposed minimax filtration algorithm adaptable. The author discusses the implementation of the proposed algorithm and considers examples. The second part of the paper solves the control problem.","PeriodicalId":36477,"journal":{"name":"Mekhatronika, Avtomatizatsiya, Upravlenie","volume":"17 6","pages":""},"PeriodicalIF":0.0,"publicationDate":"2024-06-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141382906","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Interval Observer for Fault Identifi cation in Discrete-Time Dynamic Systems 用于离散时间动态系统故障识别的区间观测器

Mekhatronika, Avtomatizatsiya, Upravlenie Pub Date : 2024-06-05 DOI: 10.17587/mau.25.289-294

A. Zhirabok, A. Zuev

{"title":"Interval Observer for Fault Identifi cation in Discrete-Time Dynamic Systems","authors":"A. Zhirabok, A. Zuev","doi":"10.17587/mau.25.289-294","DOIUrl":"https://doi.org/10.17587/mau.25.289-294","url":null,"abstract":"The paper considers the problem of fault estimation (identification) in nonlinear discrete-time stationary systems described by linear dynamic models under external disturbances based on interval observers. To solve the problem, a reduced order model of the original system of minimal dimension than that of the original system insensitive or having minimal sensitivity to the external disturbances is designed. This model is based on diagonal Jordan canonical form allowing obtaining one-dimensional model. Based on this model, the interval observer is designed consisting of two subsystems. The first subsystem generates the lower bound of the set of admissible values of the prescribed function of the system state vector while the second system generates the upper bound. The relations describing such subsystems are derived. The prescribed function is such that forms one component of the system output vector containing the variable which is a result of the fault occurred in the system. This is necessary to introduce a feedback in the interval observer which is created by the estimated system output. Based on the interval observer description, the variable is introduced connecting the lower and upper bounds and real value of the prescribed function which can be measured. Based on the introduced variable, the relation connecting the lower and upper bounds and real value of the prescribed function in neighboring moments of time is constructed. This relation is based for fault estimation. Since measurement noises are absent and the reduced order model is insensitive to the disturbances, all obtained relations are precise, and the resulting formula for fault estimation is precise one as well. The theoretical results are illustrated by an example of electro actuator model where the value of fault is estimated. Simulation results based on the package Matlab show the effectiveness of the developed theory.","PeriodicalId":36477,"journal":{"name":"Mekhatronika, Avtomatizatsiya, Upravlenie","volume":"26 1","pages":""},"PeriodicalIF":0.0,"publicationDate":"2024-06-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141386109","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Neural Network Sliding Control for Three-Axis Gimbal Orientation with Camera on an Unmanned Vehicle 无人飞行器上带摄像头的三轴万向节方位神经网络滑动控制

Mekhatronika, Avtomatizatsiya, Upravlenie Pub Date : 2024-05-07 DOI: 10.17587/mau.25.239-250

A. Korikov, V. Tran

引用次数: 0

Intelligent Autonomous Robot Model for Selective Surface Cleaning 用于选择性表面清洁的智能自主机器人模型

Mekhatronika, Avtomatizatsiya, Upravlenie Pub Date : 2024-05-07 DOI: 10.17587/mau.25.231-238

D. A. Bushuev, A. G. Bazhanov, V. A. Porhalo, L. Mballa Mballa, A. I. Yunda

引用次数: 0

An Intelligent System for Identifying Track Hauls Requiring Out-of-Turn Control of the Railroad Bed 用于识别需要对铁路道床进行掉头控制的轨道运输的智能系统

Mekhatronika, Avtomatizatsiya, Upravlenie Pub Date : 2024-05-06 DOI: 10.17587/mau.25.223-230

T. A. Aliev, T. A. Babayev, N. Musaeva, R. Gadimov, A. I. Mammadova

引用次数: 0

Methodology for Ensuring the Viability for a Complex Object Based on Managing its Structural Dynamics 基于结构动力学管理确保复杂物体可行性的方法论

Mekhatronika, Avtomatizatsiya, Upravlenie Pub Date : 2024-04-10 DOI: 10.17587/mau.25.167-176

I. Т. Kimyaev, B. V. Sokolov

{"title":"Methodology for Ensuring the Viability for a Complex Object Based on Managing its Structural Dynamics","authors":"I. Т. Kimyaev, B. V. Sokolov","doi":"10.17587/mau.25.167-176","DOIUrl":"https://doi.org/10.17587/mau.25.167-176","url":null,"abstract":" The article examines a conceptual model that forms the basis of the authors’ proposed approach to solving the problem of creating integrated information-management systems (IMS) for making managerial decisions, embedded within the structure of vertically integrated Business Entity (BE) to maintain their viability. Viability is understood as the ability of an BE to maintain key technological and business indicators within safe ranges throughout its life cycle (LC), while being subject to the influence of destructive internal and external factors. The problem of synthesizing a generalized structure of an IMS is proposed to solve using a system-cybernetic approach, which considers this problem as the managing its structural dynamics. Managing structural dynamics enables maintaining a regulated level of viability of the vertically integrated BE at all the key stages of its life cycle. The proposed structure of model-algorithmic support (MAS) implements the methods for complexity management. This methodology proposes the approach that justifies the evolutionary redistribution of roles between managerial teams of the vertically integrated BE and functionally equivalent information-management systems. The results of implementing the structure of an IMS, as an example are provided, which arises through the transformation of its original multi-structural state into a qualitatively different state. Multi-structural states are characterized by the use of various control methods, such as \"Automatic Multi-Factor\", \"Automatic Optimal\" \"Manual on site\" etc. In the synthesis of the IMS structure, the methods for system modeling technologies based on simulation-statistical and fuzzy-possibilistic approaches were used.","PeriodicalId":36477,"journal":{"name":"Mekhatronika, Avtomatizatsiya, Upravlenie","volume":"221 1","pages":""},"PeriodicalIF":0.0,"publicationDate":"2024-04-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140717489","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0