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Design of Suboptimal Robust Controllers Based on a Priori and Experimental Data 基于先验数据和实验数据的次优鲁棒控制器设计
IF 0.6 4区 计算机科学
Automation and Remote Control Pub Date : 2023-12-18 DOI: 10.1134/S0005117923080064
M. M. Kogan, A. V. Stepanov
{"title":"Design of Suboptimal Robust Controllers Based on a Priori and Experimental Data","authors":"M. M. Kogan,&nbsp;A. V. Stepanov","doi":"10.1134/S0005117923080064","DOIUrl":"10.1134/S0005117923080064","url":null,"abstract":"<p>This paper develops a novel unified approach to designing suboptimal robust control laws for uncertain objects with different criteria based on a priori information and experimental data. The guaranteed estimates of the γ<sub>0</sub>, generalized <i>H</i><sub>2</sub>, and <i>H</i><sub>∞</sub> norms of a closed loop system and the corresponding suboptimal robust control laws are expressed in terms of solutions of linear matrix inequalities considering a priori knowledge and object modeling data. A numerical example demonstrates the improved quality of control systems when a priori and experimental data are used together.</p>","PeriodicalId":55411,"journal":{"name":"Automation and Remote Control","volume":null,"pages":null},"PeriodicalIF":0.6,"publicationDate":"2023-12-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"138744001","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Resolvents of the Ito Differential Equations Multiplicative with Respect to the State Vector 伊藤微分方程与状态矢量相乘的驻留子
IF 0.6 4区 计算机科学
Automation and Remote Control Pub Date : 2023-12-18 DOI: 10.1134/S0005117923080088
M. E. Shaikin
{"title":"Resolvents of the Ito Differential Equations Multiplicative with Respect to the State Vector","authors":"M. E. Shaikin","doi":"10.1134/S0005117923080088","DOIUrl":"10.1134/S0005117923080088","url":null,"abstract":"<p>Integral representations of solutions of linear multiplicatively perturbed differential equations are obtained, the diffusion part of which is bilinear on the state vector and the vector of independent Wiener processes. Equations of such class serve as models of stochastic systems with control functioning under conditions of parametric uncertainty or undesirable influence of external disturbances. The concepts and analytical apparatus of the theory of Lie algebras are used to find integral representations and fundamental matrices of the equations.</p>","PeriodicalId":55411,"journal":{"name":"Automation and Remote Control","volume":null,"pages":null},"PeriodicalIF":0.6,"publicationDate":"2023-12-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"138744004","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Control of Set of System Parameter Values by the Ant Colony Method 用蚁群方法控制一组系统参数值
IF 0.6 4区 计算机科学
Automation and Remote Control Pub Date : 2023-12-18 DOI: 10.1134/S0005117923080106
I. N. Sinitsyn, Yu. P. Titov
{"title":"Control of Set of System Parameter Values by the Ant Colony Method","authors":"I. N. Sinitsyn,&nbsp;Yu. P. Titov","doi":"10.1134/S0005117923080106","DOIUrl":"10.1134/S0005117923080106","url":null,"abstract":"<p>The paper considers the modification and application of the ant colony method for the problem of directed enumeration of the values of system parameters when performing calculated multiple calculations. Interaction with the user makes it possible to stop the process of exhaustive enumeration of sets of parameter values, and the application of a modification of the ant colony method will allow us to consider rational sets at early iterations. If the user does not terminate the algorithm, then the proposed modifications allow one to enumerate all solutions using the ant colony method. To modify the ant colony method, a new probabilistic formula and various algorithms of the ant colony method are proposed, allowing for each agent to find a new set of parameter values. The optimal algorithm, according to the research results, is the use of repeated endless cyclic search for a new solution. This modification allows you to consider all solutions, and at the same time, find all the optimal solutions among the first 5% of the considered solutions.</p>","PeriodicalId":55411,"journal":{"name":"Automation and Remote Control","volume":null,"pages":null},"PeriodicalIF":0.6,"publicationDate":"2023-12-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"138744007","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Continuous Processes with Fuzzy States and Their Applications 具有模糊状态的连续过程及其应用
IF 0.6 4区 计算机科学
Automation and Remote Control Pub Date : 2023-12-18 DOI: 10.1134/S0005117923080040
V. L. Khatskevich
{"title":"Continuous Processes with Fuzzy States and Their Applications","authors":"V. L. Khatskevich","doi":"10.1134/S0005117923080040","DOIUrl":"10.1134/S0005117923080040","url":null,"abstract":"<p>Scalar characteristics of continuous processes with fuzzy states—mean and correlation functions—are introduced and studied. Their algebraic properties as well as some properties related to the differentiation and integration of fuzzy functions of a real argument are established. The dependence between the characteristics of a fuzzy signal at the input and output of a dynamic system described by a high-order differential equation with constant coefficients is shown.</p>","PeriodicalId":55411,"journal":{"name":"Automation and Remote Control","volume":null,"pages":null},"PeriodicalIF":0.6,"publicationDate":"2023-12-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"138743770","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Generalization of the Carathéodory Theorem and the Maximum Principle in Averaged Problems of Non-Linear Programming 非线性程序设计平均问题中的卡拉瑟奥多里定理和最大原则的一般化
IF 0.6 4区 计算机科学
Automation and Remote Control Pub Date : 2023-12-18 DOI: 10.1134/S000511792308009X
A. M. Tsirlin
{"title":"Generalization of the Carathéodory Theorem and the Maximum Principle in Averaged Problems of Non-Linear Programming","authors":"A. M. Tsirlin","doi":"10.1134/S000511792308009X","DOIUrl":"10.1134/S000511792308009X","url":null,"abstract":"<p>The relationship between the averaging of functions over time and its averaging over the set of values of the required variables is considered. Optimization problems are studied, the criterion and constraints of which include the averaging of functions or functions of the average values of variables. It is shown that the optimality conditions for these problems have the form of the maximum principle, and their optimal solution in the time domain is a piecewise constant function. A generalization of Carathéodory’s theorem on convex hulls of a function is proved. Optimality conditions are obtained for non-linear programming problems with averaging over a part of the variables and functions depending on the average values of the variables.</p>","PeriodicalId":55411,"journal":{"name":"Automation and Remote Control","volume":null,"pages":null},"PeriodicalIF":0.6,"publicationDate":"2023-12-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"138745831","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Synthesis of Test Control for Identification of Aerodynamic Characteristics of Aircraft 识别飞机空气动力特性的测试控制合成
IF 0.6 4区 计算机科学
Automation and Remote Control Pub Date : 2023-12-18 DOI: 10.1134/S0005117923080027
N. V. Grigor’ev
{"title":"Synthesis of Test Control for Identification of Aerodynamic Characteristics of Aircraft","authors":"N. V. Grigor’ev","doi":"10.1134/S0005117923080027","DOIUrl":"10.1134/S0005117923080027","url":null,"abstract":"<p>The synthesis of a control law for tracking a target informative path as a new approach to solving the problem of planning a flight experiment for identifying the aerodynamic characteristics of automatically controlled aircraft is proposed. The mathematical statement and the method for solving the synthesis problem are obtained. In the numerical experiment, it is shown that the identification accuracy on the synthesized control can be significantly improved compared to the identification accuracy on the optimal program test signal.</p>","PeriodicalId":55411,"journal":{"name":"Automation and Remote Control","volume":null,"pages":null},"PeriodicalIF":0.6,"publicationDate":"2023-12-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"138743608","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Angular Motion Control of a Large Space Structure with Elastic Elements 带弹性元件的大型空间结构的角运动控制
IF 0.6 4区 计算机科学
Automation and Remote Control Pub Date : 2023-12-18 DOI: 10.1134/S0005117923080076
V. Yu. Rutkovskii, V. M. Glumov, A. S. Ermilov
{"title":"Angular Motion Control of a Large Space Structure with Elastic Elements","authors":"V. Yu. Rutkovskii,&nbsp;V. M. Glumov,&nbsp;A. S. Ermilov","doi":"10.1134/S0005117923080076","DOIUrl":"10.1134/S0005117923080076","url":null,"abstract":"<p>The task of angular orientation and stabilization of a space structure during its assembly in orbit is solved. The structure includes elastic elements that are installed during the assembly process. The elastic elements of the structure have no sensors to obtain information about their deformation parameters. Control algorithms are proposed to ensure the stability of the angular motion of the structure. A nonlinear extended Kalman filter is used to obtain the necessary information. A joint estimation algorithm for the coordinates of the angular motion of the considered mechanical system and the coordinates of the elastic vibration tones, as well as an algorithm for the identification of their unobservable parameters are developed. The results of mathematical modeling of a variant of the mechanical system of a space structure are presented, which confirm the operability and efficiency of the developed algorithms for estimating coordinates and parameters.</p>","PeriodicalId":55411,"journal":{"name":"Automation and Remote Control","volume":null,"pages":null},"PeriodicalIF":0.6,"publicationDate":"2023-12-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"138743960","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Parametric Algorithm for Finding a Guaranteed Solution to a Quantile Optimization Problem 为量子优化问题寻找保证解的参数算法
IF 0.6 4区 计算机科学
Automation and Remote Control Pub Date : 2023-12-18 DOI: 10.1134/S0005117923080039
S. V. Ivanov, A. I. Kibzun, V. N. Akmaeva
{"title":"Parametric Algorithm for Finding a Guaranteed Solution to a Quantile Optimization Problem","authors":"S. V. Ivanov,&nbsp;A. I. Kibzun,&nbsp;V. N. Akmaeva","doi":"10.1134/S0005117923080039","DOIUrl":"10.1134/S0005117923080039","url":null,"abstract":"<p>The problem of stochastic programming with a quantile criterion for a normal distribution is studied in the case of a loss function that is piecewise linear in random parameters and convex in strategy. Using the confidence method, the original problem is approximated by a deterministic minimax problem parameterized by the radius of a ball inscribed in a confidence polyhedral set. The approximating problem is reduced to a convex programming problem. The properties of the measure of the confidence set are investigated when the radius of the ball changes. An algorithm is proposed for finding the radius of a ball that provides a guaranteeing solution to the problem. A method for obtaining a lower estimate of the optimal value of the criterion function is described. The theorems are proved on the convergence of the algorithm with any predetermined probability and on the accuracy of the resulting solution.</p>","PeriodicalId":55411,"journal":{"name":"Automation and Remote Control","volume":null,"pages":null},"PeriodicalIF":0.6,"publicationDate":"2023-12-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140888708","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Iterative Learning Control of Stochastic Multi-Agent Systems with Variable Reference Trajectory and Topology 具有可变参考轨迹和拓扑的随机多智能体系统的迭代学习控制
IF 0.7 4区 计算机科学
Automation and Remote Control Pub Date : 2023-10-01 DOI: 10.1134/S0005117923060073
A. S. Koposov, P. V. Pakshin
{"title":"Iterative Learning Control of Stochastic Multi-Agent Systems with Variable Reference Trajectory and Topology","authors":"A. S. Koposov,&nbsp;P. V. Pakshin","doi":"10.1134/S0005117923060073","DOIUrl":"10.1134/S0005117923060073","url":null,"abstract":"<p>In modern smart manufacturing, robots are often connected via a network, and their task can change according to a predetermined program. Iterative learning control (ILC) is widely used for robots executing high-precision operations. Under network conditions, the efficiency of ILC algorithms may decrease if the program is restructured. In particular, the learning error may temporarily increase to an unacceptable value when changing the reference trajectory. This paper considers a networked system with the following features: the reference trajectory and parameters change between passes according to a known program, agents are subjected to random disturbances, and measurements are carried out with noise. In addition, the network topology changes due to the disconnection of some agents from the network and the connection of new agents to the network according to a given program. A distributed ILC design method is proposed based on vector Lyapunov functions for repetitive processes in combination with Kalman filtering. This method ensures the convergence of the learning error and reduces its increase caused by changes in the reference trajectory and network topology. The effectiveness of the proposed method is confirmed by an example.</p>","PeriodicalId":55411,"journal":{"name":"Automation and Remote Control","volume":null,"pages":null},"PeriodicalIF":0.7,"publicationDate":"2023-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"50436695","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Sequential Improvement Method in Probabilistic Criteria Optimization Problems for Linear-in-State Jump Diffusion Systems 线性状态跳跃扩散系统概率准则优化问题的序列改进方法
IF 0.7 4区 计算机科学
Automation and Remote Control Pub Date : 2023-10-01 DOI: 10.1134/S0005117923060061
M. M. Khrustalev, K. A. Tsarkov
{"title":"Sequential Improvement Method in Probabilistic Criteria Optimization Problems for Linear-in-State Jump Diffusion Systems","authors":"M. M. Khrustalev,&nbsp;K. A. Tsarkov","doi":"10.1134/S0005117923060061","DOIUrl":"10.1134/S0005117923060061","url":null,"abstract":"<p>Here we study the problems of probabilistic and quantile optimization of multidimensional controllable jump diffusion. As the main tool we use Chebyshev-type probability estimates. With them the problems under consideration are reduced to one auxiliary deterministic optimal control problem in terms of the moment characteristics of the process. To find its solution, we use Krotov’s global improvement method.</p>","PeriodicalId":55411,"journal":{"name":"Automation and Remote Control","volume":null,"pages":null},"PeriodicalIF":0.7,"publicationDate":"2023-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"50436696","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
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