The author’s modification of a multidimensional fuzzy controller with a block for optimizing mode parameters and a block for predicting terms is considered. A block diagram of the controller, fuzzification and defuzzification schemes for continuous quantities are presented. The mechanism of operation of the logical inference block, which forms the identification number of the general composite production rule from the serial numbers of the terms of input and output variables with feedback, is described. The identification number is used as a key to retrieve information from the database about how to obtain specific numerical values of control actions, which is then transmitted to the controller defuzzification block. The general purpose of the term prediction block and the optimization block is shown. The prediction block is designed to transmit to the controller fuzzification block recommendations for a set of terms with which to begin processing the values of input variables in each scanning cycle. The optimization block is used to develop recommendations for optimizing operating parameters in accordance with specified criteria. The optimization block implements the author’s optimization algorithms, based on the use of evolutionary modeling methods and evolutionary algorithms adapted to a specific technological process. The formulation of the problem of optimal control of a dynamic process and an algorithm for its solution are presented. As an example, the problem of searching the optimal temperature regime in a batch ideal mixing reactor for the catalytic dimerization reaction of α-methylstyrene in the presence of a NaHY zeolite catalyst is considered. As a result of calculations using a genetic algorithm with real coding, where the genome is a real number, the suboptimal temperature of the refrigerant for the dimerization process of α-methylstyrene lasting 2 and 3 hours, and the corresponding concentrations of reagents, were calculated. The conducted computational experiment demonstrates the process of obtaining and issuing recommendations by a remote module for changing mode parameters and/or the system of production rules
{"title":"Modifi ed Fuzzy Controller with Optimization of Mode Parameters of Technological Process","authors":"A. Antipin, E. V. Antipina, S. A. Mustafina","doi":"10.17587/mau.25.354-361","DOIUrl":"https://doi.org/10.17587/mau.25.354-361","url":null,"abstract":"The author’s modification of a multidimensional fuzzy controller with a block for optimizing mode parameters and a block for predicting terms is considered. A block diagram of the controller, fuzzification and defuzzification schemes for continuous quantities are presented. The mechanism of operation of the logical inference block, which forms the identification number of the general composite production rule from the serial numbers of the terms of input and output variables with feedback, is described. The identification number is used as a key to retrieve information from the database about how to obtain specific numerical values of control actions, which is then transmitted to the controller defuzzification block. The general purpose of the term prediction block and the optimization block is shown. The prediction block is designed to transmit to the controller fuzzification block recommendations for a set of terms with which to begin processing the values of input variables in each scanning cycle. The optimization block is used to develop recommendations for optimizing operating parameters in accordance with specified criteria. The optimization block implements the author’s optimization algorithms, based on the use of evolutionary modeling methods and evolutionary algorithms adapted to a specific technological process. The formulation of the problem of optimal control of a dynamic process and an algorithm for its solution are presented. As an example, the problem of searching the optimal temperature regime in a batch ideal mixing reactor for the catalytic dimerization reaction of α-methylstyrene in the presence of a NaHY zeolite catalyst is considered. As a result of calculations using a genetic algorithm with real coding, where the genome is a real number, the suboptimal temperature of the refrigerant for the dimerization process of α-methylstyrene lasting 2 and 3 hours, and the corresponding concentrations of reagents, were calculated. The conducted computational experiment demonstrates the process of obtaining and issuing recommendations by a remote module for changing mode parameters and/or the system of production rules","PeriodicalId":36477,"journal":{"name":"Mekhatronika, Avtomatizatsiya, Upravlenie","volume":" 54","pages":""},"PeriodicalIF":0.0,"publicationDate":"2024-07-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141827278","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}
To increase the capacity of the intersection and simultaneously reduce the travel time of the vehicle, optimization of traffic light control is necessary. The existing traffic light control systems cannot control dynamic systems in which several factors influence the decision-making process. The determination of factors (output variables) and the fuzzification process are the main problem of the fuzzy logic algorithm, and the quality of the compilation of the term set of input linguisticvariables and the definition of the function of belonging affect the optimal control of the light signals. The article provides an analytical overview of the ways of using linguistic variables for fuzzy inference systems when controlling traffic light signals. The subject of the article is the input linguistic variables for decision-making in a fuzzy management model. The analysis of modern research is presented and the main input linguistic variables are described. In the first section of the work, the general principle of building a rule base for fuzzy inference systems based on the Mamdani and Takagi-Sugeno methods is considered. The following sections are devoted to the peculiarities of such output linguistic variables that affect the operation of a fuzzy traffic light, such as: the number of vehicles, the current time of the green signal, road users (pedestrians), weather conditions and the number of lanes (width) of intersected roads. Accounting for these variables, their fuzzification and the formation of an appropriate rule base for the design of fuzzy systems is a very difficult task. In this regard, one of the key problems is precisely the problem of choosing the necessary input parameters depending on the type of intersection.A review of the literature has shown that the research of the fuzzy controller in traffic management is still at the initial stage of development. Many of the unresolved issues raised in ozor can be addressed in further research
{"title":"Methods for Selecting Linguistic Variables in the Fuzzy Traffi c Light Control System","authors":"G. M. Penayev, R. B. Hydyrov","doi":"10.17587/mau.25.362-371","DOIUrl":"https://doi.org/10.17587/mau.25.362-371","url":null,"abstract":"To increase the capacity of the intersection and simultaneously reduce the travel time of the vehicle, optimization of traffic light control is necessary. The existing traffic light control systems cannot control dynamic systems in which several factors influence the decision-making process. The determination of factors (output variables) and the fuzzification process are the main problem of the fuzzy logic algorithm, and the quality of the compilation of the term set of input linguisticvariables and the definition of the function of belonging affect the optimal control of the light signals. The article provides an analytical overview of the ways of using linguistic variables for fuzzy inference systems when controlling traffic light signals. The subject of the article is the input linguistic variables for decision-making in a fuzzy management model. The analysis of modern research is presented and the main input linguistic variables are described. In the first section of the work, the general principle of building a rule base for fuzzy inference systems based on the Mamdani and Takagi-Sugeno methods is considered. The following sections are devoted to the peculiarities of such output linguistic variables that affect the operation of a fuzzy traffic light, such as: the number of vehicles, the current time of the green signal, road users (pedestrians), weather conditions and the number of lanes (width) of intersected roads. Accounting for these variables, their fuzzification and the formation of an appropriate rule base for the design of fuzzy systems is a very difficult task. In this regard, one of the key problems is precisely the problem of choosing the necessary input parameters depending on the type of intersection.A review of the literature has shown that the research of the fuzzy controller in traffic management is still at the initial stage of development. Many of the unresolved issues raised in ozor can be addressed in further research","PeriodicalId":36477,"journal":{"name":"Mekhatronika, Avtomatizatsiya, Upravlenie","volume":" 15","pages":""},"PeriodicalIF":0.0,"publicationDate":"2024-07-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141827856","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}
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.
本文考虑的问题是为无人驾驶轮式平台的质量中心生成平滑且可实现的轨迹，该轨迹近似于考虑时间的参考航点序列。典型的解决方案是对独立的路线部分进行样条插值，然后进行拼接。同时，要满足机器人运动特征（如速度、加速度和颠簸）的约束条件，还需要额外的算法。与劳动密集型的分析方法相比，本文提出了一种全新的方法，计算实现简单，可对原始轨迹进行动态平滑。设计自主动态模型（跟踪微分器）的组织原理和方法，该模型的输出变量在跟踪原始非平滑轨迹时，会产生平滑曲线，其导数不会超出特定机器人的设计约束，并且是其可实现的参考轨迹。在设计微分器时，采用了块控制原理和平滑且有界的 S 型西格玛局部链接。论文提出了一种建立三块跟踪微分器的程序，其变量以信号坐标形式生成平滑的参考轨迹及其一阶和二阶导数。研究表明，所开发的程序可扩展至任何所需阶次的跟踪微分器，而不受一般性限制。特别是，在机器人或多边形运动规划阶段，为了获得明确的结果，具体说明了单块跟踪微分器的结构和设置。数值模拟结果证实了所设计算法的效率。
{"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}
Industrial robots performing complex operations often require remote control. The operator must have access to configure the robot behavior, set operations, simulate operation execution before execution, synchronize robot and its digital model state, change the control mode if necessary. Virtual reality interfaces allow to control robots interactively and perform all the operations described above. The article proposes an implementation of a control system based on virtual reality interfaces, which allows real-time control of an industrial robot. The proposed solution has been tested on two robots and includes a universal (iterative) inverse kinematics solver, a trajectory planner, a tasks scheduler, supports work in master-slave and trajectory modes.
{"title":"Industrial Robot Remote Control using Virtual Reality Interfaces","authors":"A. I. Iusupova, V. Titov, A. V. Sergeev","doi":"10.17587/mau.25.306-314","DOIUrl":"https://doi.org/10.17587/mau.25.306-314","url":null,"abstract":"Industrial robots performing complex operations often require remote control. The operator must have access to configure the robot behavior, set operations, simulate operation execution before execution, synchronize robot and its digital model state, change the control mode if necessary. Virtual reality interfaces allow to control robots interactively and perform all the operations described above. The article proposes an implementation of a control system based on virtual reality interfaces, which allows real-time control of an industrial robot. The proposed solution has been tested on two robots and includes a universal (iterative) inverse kinematics solver, a trajectory planner, a tasks scheduler, supports work in master-slave and trajectory modes.","PeriodicalId":36477,"journal":{"name":"Mekhatronika, Avtomatizatsiya, Upravlenie","volume":"216 4","pages":""},"PeriodicalIF":0.0,"publicationDate":"2024-06-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141375847","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}
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.
{"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}
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.
{"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}
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.
本文探讨了动态系统（DS）在高度不确定的情况下的控制问题，这种不确定是由作用于动态系统的干扰和运行过程中的信息通道干扰造成的。不确定性源于各种外部干扰因素的作用、对象属性的不可控变化以及设备故障和失灵。这些控制问题的一个特点是它们都是单一事件。在这种情况下，动态系统位置控制的综合考虑基于最小法--最坏情况设计。过程的数学模型以扰动和测量误差为特征，测量误差的精度可达到集。作为解决估计问题的结果，DS 状态矢量的已知精度可达信息集合中的成员。所提出的方法结合了 N. N. Krasovsky 在信息不足情况下的控制概念和 A. A. Krasovsky 建立自组织系统的概念。选择 "保证结果原则 "来综合 DS 控制。在信息不完全的情况下，控制问题分两个阶段解决。在第一阶段，解决状态矢量估计问题。本文考虑了几种估计算法的实现方法。它还提出了一种基于使用三种滤波器（最小滤波器 (MMF)、卡尔曼滤波器 (KF) 和保证滤波器 (GF)）的最小滤波算法，该算法可以提高估计精度，并使所提出的最小滤波算法具有适应性。作者讨论了所提算法的实现，并举例说明。论文的第二部分解决了控制问题。
{"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}
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.
{"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}
S. A. Storozhev, V. Nikulin, Y. Khizhnyakov, A. A. Yuzhakov
{"title":"Automatic Fuel Flow Regulation System for the Combustion Chamber under Varying Operating Conditions Based on a Neural Nitrogen Oxide Sensor","authors":"S. A. Storozhev, V. Nikulin, Y. Khizhnyakov, A. A. Yuzhakov","doi":"10.17587/mau.25.251-258","DOIUrl":"https://doi.org/10.17587/mau.25.251-258","url":null,"abstract":"","PeriodicalId":36477,"journal":{"name":"Mekhatronika, Avtomatizatsiya, Upravlenie","volume":" 3","pages":""},"PeriodicalIF":0.0,"publicationDate":"2024-05-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140999350","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}
A. B. Filimonov, N. B. Filimonov, Т. К. Nguyen, Q. P. Pham
{"title":"Optimization of UAV Flight Routes during Group Patrolling of Extended Territories as a Multiple Task of a Traveling Salesman with Several Depots","authors":"A. B. Filimonov, N. B. Filimonov, Т. К. Nguyen, Q. P. Pham","doi":"10.17587/mau.25.259-265","DOIUrl":"https://doi.org/10.17587/mau.25.259-265","url":null,"abstract":"","PeriodicalId":36477,"journal":{"name":"Mekhatronika, Avtomatizatsiya, Upravlenie","volume":" 2","pages":""},"PeriodicalIF":0.0,"publicationDate":"2024-05-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141001447","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}
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