We consider the problem of multicriteria design of a robotic group, consisting of a group of robots, with the aim of achieving specified targets. A new approach to the organization of control of such ...robotic systems based on the partial dominance of decisions over target characteristics is proposed.
The article presents a multicriteria approach to the adaptation of groups of search, explore or research robots to unknown and volatile environment conditions. The basis of this approach is the ...application of multicriteria analysis both at the design stage of a group of mobile robots and at the stage of its adaptation in real-time conditions. It is proposed to maintain a variety of robots by properties and by optimality criteria in order to take into account the preferred mode of operation.
A new approach is proposed to design complex robotic systems composed of many robots that can operate under different conditions and perform various tasks. Bio-inspired ideas of adaptation of robotic ...groups are discussed.
The experimental results of testing scroll machine in air motor mode, such as mechanical and flow performance; leakage coefficient; specific volume and weight power are presented. These results ...analyzed and compared with the same properties of radial - piston and vane air motors with equal power.
The article discusses the formulation of the problem of multicriteria design of a robotic system consisting of a group of robots, with the aim of achieving specified targets. A new approach to ...organizing the control of such robotic systems based on the partial dominance of decisions over target indicators is proposed. Illustrative examples of the application of the approach for UAV groups are given.
In the work the method of transition to dimensionless parameters is presented on the example of movement by two synchronously working piston hydraulic engines of a heavy object with use of the theory ...of similarity and analogousness. Advantage of such approach is shown in limit simplification of dimensionless model, its universality and efficiency of search of an optimal solution in the choice of parameters of the real device. Methods of dimension and the theory of similarity are successfully applied in a research of dynamic systems of various classes. The problems arising at the same time are connected generally with the choice of a rational combination of the main units of measure of physical quantities, with transition to dimensionless models and with formation basic criterion of similarity. The specified problems are solved by the researcher, as a rule, on the basis of own intuition and experience. The systematized approaches to the solution of similar problems based on a method of the theory of analogousness are meanwhile known.
The problem of the choice of parameters and the control scheme of the dynamics system for the coordinated displacement of a large mass object by two hydraulic piston type engines is considered. As a ...first stage, the problem is solved with respect to a system in which a heavy load of relatively large geometric dimensions is lifted or lowered in the progressive motion by two unidirectional hydraulic cylinders while maintaining the plane of the lifted object in a strictly horizontal position.
Mathematical model of an actuator, consisting of a pneumatic (gas) high-speed jet engine, transfer mechanism, and a control device used for switching the ball valve is worked out. The specific ...attention was paid to the transition (normalization) of the dynamic model into the dimensionless form. Its dynamic simulation criteria are determined, and dynamics study of an actuator was carried out. The simple control algorithm of relay action with a velocity feedback enabling the valve plug to be turned with a smooth nonstop and continuous approach to the final position is demonstrated
The problem of preliminary choice of parameters of the automated drive power channel is discussed. The drive of the mechatronic complex divides into two main units - power and control. The first ...determines the energy capabilities and, as a rule, the overall dimensions of the complex. The sufficient capacity of the power unit is a necessary condition for successful solution of control tasks without excessive complication of the control system structure. Preliminary selection of parameters is carried out based on the condition of providing the necessary drive power. The proposed approach is based on: a research of a sufficiently developed but not excessive dynamic model of the power block with the help of a conditional test control system; a transition to a normalized model with the formation of similarity criteria; constructing the synthesis procedure.
On Solving the Optimal Control Problem Polyanskii, I. S.; Arkhipov, N. S.; Misyurin, S. Yu
Automation and remote control,
2019/1, Letnik:
80, Številka:
1
Journal Article
Recenzirano
We consider a solution of the optimal control problem for an adaptive multidirectional mirror antenna. With the Pontryagin maximum principle, we reduce the problem to solving a system of ordinary ...differential equations. The resulting system can be solved numerically using modern approaches such as the Runge–Kutta methods or hybrid evolutionary algorithms. Estimation of the state vector is performed by the maximum likelihood criterion with solving the generated Fokker–Planck–Kolmogorov stochastic differential equation. In this case, the posterior probability density function is associated with the normalized value of the energy flux density in the aperture of antenna feeders. We determine the ability to suppress interference with an adaptive multidirectional mirror antenna and give an example of solving the control problem.
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