A. R. Gaiduk

Control System Design for Autonomous Underwater Vehicle

This paper presents adaptive control system for the autonomous underwater vehicle. A nonlinear interrelated dynamic model of the underwater vehicle is considered. The novelty of developed control system is in use of positional-trajectory control method. This means feasibility of Autonomous Underwater Vehicle in complicated trajectories with relatively small computational resources. Adaptation of the control system is based on robust disturbances estimation. Modeling results validate proposed methods.

Position-Trajectory Control System for Unmanned Robotic Airship

Abstract This paper considers design of the control system for prototype of stratospheric airship, that is distinctive for its hybrid shape, leading to essential aerodynamic moments in flight. Mathematical model of the airship is presented. Control system implements remotely controlled by pilot flight and autonomous flight. Algorithm of automatic distribution of controlling forces and moments in actuators is presented. Adaptation of control system is provided with robust estimator of disturbances as indirect robust control. Control system is experimentally tested with hardware and software complex for HIL-simulation and pilots training.

Control Method for Vehicles on Base of Natural Energy Recovery

This paper is devoted to vehicle movement control method based on the natural energy recovery [1] and position-path control approach [2,3,4]. This method ensures the fullest use of kinematic energy of the controlled vehicle. Method is applied for path profile with variable height. Vehicle velocity is changed to minimize kinematic energy losses. The time of the path passage is accounted in the designed method. In this report typical profiles of the controlled vehicle are considered. In general case the vehicle velocity program is developed on base of solutions for typical profiles. The vehicle velocity program is changing while vehicle is moving. The developed method is applied for control of trains implemented with electrical power drives. On base of train model studying it is proved that optimal mode of trains acceleration is maximal traction. The maximal traction ensures minimum energy consumption of train drives. But the traction of trains is extreme function of the speed wheel slip [5, 6]. Therefore the new extreme control for the train drives is developed. This method supports trains traction in extreme value. The developed method is implemented in simulator based on Matlab and Universal Mechanism. Movement of a freight train on a real track section is simulated.

Control Method for Heterogeneous Vehicle Groups Control in Obstructed 2-D Environments

The article considers the problem of distributed control for a group of heterogeneous vehicles. A survey of tasks and group control methods is given. A problem is posed to synthesize a local control algorithm ensuring motion if a heterogeneous group in a 2D environment with nonstationary obstacles. The algorithm is used to calculate the required speed and robot’s heading. A principle is used that allows us to treat all the neighboring objects as repellers. Unlike the known methods, in the proposed approach the repelling forces are formed at the outputs of dynamic units allowing us to perform synthesis in the state space instead of a geometric space. Motion steady state modes analysis of the planned paths is performed and their stability is considered. The presented results allows to improve the operation of the robot safety among human environment.

The synthesis of compensation circuits of parasitic capacitances of the output circuit of classical broadband amplifiers of signal and telecommunications systems

The paper considers the conditions of synthesis of a special compensation circuit (CC) of parasitic capacitance connected with an output of classic transistor stage (TS) from the common ground of the theory of automatic control systems. The purpose of CC is to extend the frequency range of TS, especially at high-resistance loads, including active ones. It is shown that the connected CC should contain a differentiating link. The analysis of scheme stability of a broadband amplifier (BA) with CC is carried out. The analytical expressions are obtained to estimate maximum advantage on bandwidth and transient time in classic transistor stages (circuits with common-emitter, common base). Three main options of practical implementation of CC in the basis of non-inverting voltage/current followers are considered.

Research of operational amplifiers with nonlinear drivers of correction capacity

Transients of operational amplifiers (OA) with a unipolar circuit of RC-correction in the large signal operation are considered. In order to increase the fast response, the differential stages with various kinds of nonlinearity are used as a driver of the correction capacity: the output current confinement, the dead band in the central section of the passage characteristic, the passage characteristics with the sections of different slopes, etc. The recommendations for raising the maximal slew rate of the operational amplifiers of the considered class by a factor of 5÷100 have been developed.

Design of nonlinear optimal systems on basis of controlled Jordan form

The work is devoted to the method development of an optimal control systems design for nonlinear technical plants basis on a Jordan controlled form of their equations. The definition of this form for the plants with single control is given. The solution of the problem design of the optimal system there is if all the nonlinear plant state variables are measured and the plant equations are represented in Jordan controlled form. Analytical expressions which define the optimal control in the sense of a nonlinear square-law and undetermined criteria are given. The design example of the optimal system for nonlinear plants is resulted.

ANALYTICAL DESIGN OF NONLINEAR CONTROL SYSTEMS

This paper presents two approaches to analytical design of nonlinear control systems using transformation of plant equations into quasilinear forms or into Jordan controlled form. Settlement expressions of corresponding analytical methods of control systems design are obtained as results. These methods can be applied if the plant’s nonlinear functions are differentiable, the plant is controllable and the additional conditions are satisfied. The suggested methods provide asymptotical stability of the equilibrium in a bounded domain of the state space or global stability and also desirable performance of transients. Examples of control systems design by the suggested analytical methods are given.

The synthesis of the correction circuit of the high speed sensors of the physical quantities and current-voltage converters with the parasitic capacitance

The paper presents the method of increasing of the response time of the sensors of different physical magnitudes with the high output resistance, for example, the photodiodes for the optical systems of the digital information transmission. The features of method of the correction circuit of the current-voltage converters, which compensates the influence of the parasitic capacitance of the load on its bandwidth and settling time of the transient process, are considered.