A. P. Yan

Using the Kalman filter in the quadrotor vehicle trajectory tracking system

A problem of control of quadrotor vehicle motion over a trajectory defined implicitly in the coordinate space is considered. The previously proposed system of automated control of quadrotor vehicle flight is supplemented with relations based on an extended Kalman filter for estimating the plant state vector and the systematic error of measurements. The workability of the control system in the presence of the measurement noise is verified by results of modeling and experiments with the AR.Drone quadrotor vehicle.

Control of flight parameters of a quadrotor vehicle moving over a given trajectory

The problem of control of an autonomous unmanned aerial vehicle with vertical takeoff and landing, which moves over a trajectory specified in the coordinate space, is considered. A method of constructing a system of automatic control of quadrotor vehicle takeoff and flight is proposed. Analytical relations for control actions on four engines that ensure vehicle motion over a prescribed trajectory with desired values of altitude and velocity are derived.

Decentralized control of quadrotors in a leader–follower formation

A problem of control of quadrotors in a leader–follower formation is considered. A method is proposed, which allows control actions for the follower robot to be formed only on the basis of information about the follower motion parameters and the relative positions of the leader and follower.

Robust leader–follower formation control of mobile robots by the structural synthesis method

A problem of control of the motion of mobile robots with a differential drive in a leader–follower formation is considered. The proposed method of structural synthesis allow one to form control inputs for robots–followers only on the basis of information about the relative positions of the followers and the leader without using the absolute values of the spatial coordinates of the robots. The algorithm efficiency is confirmed by results of numerical experiments.

Correction of transportation lag in the mobile robot control system

The influence of the transportation lag and the classical methods of its correction in a control system for a mobile robot with a differential drive are considered. Such effects as slipping of wheels and surface roughness are demonstrated to restrict the area of applicability of conventional algorithms of time lag correction. A time lag correction method is proposed, which is based on analytical extrapolation and extended Kalman filter. Experimental results confirm the efficiency of the approach proposed.

Automated supervisory control systems for major hazard facilities

A method of constructing supervisory control systems for major hazard facilities is proposed. The hardware architecture and software based on these principles are described. An automated system for controlling the motion of trains of the Novosibirsk subway is presented.

Method of quadrotor flight control in the target tracking problem

A problem of control of trajectory motion of a quadrotor vehicle is considered. The choice of the form of required differential equations in the previously proposed method of tracking of a moving target is justified. The workability of the control system in the presence of measurement noise and external perturbations is confirmed by results of experiments with the AR.Drone quadrotor.

Architecture of the Novosibirsk subway automated traffic control system

Abstract A specialized architecture based on peer servers is suggested for the development of distributed control systems with advanced reliability and operating speed; implementation is used in the Novosibirsk subway automated traffic control system.

Development and identification of a servo model based on experimental data

A servo model is developed and its parameters are identified using data obtained on a test bench developed. High accuracy of the proposed model is confirmed experimentally..

Autonomous vehicle control for scalar field measurements

In this paper, we introduce a gradient control algorithm for autonomous vehicle, allowing to detect and track level curves of a scalar field in the plane. The vehicle can consist one sensor that can take only a single measurement at a time. This leads to ability of calculating only local estimates of scalar field gradient. The motion algorithm is based on additional testing signal in control system and provide overall estimate of gradient.