Roman Fedorenko

Adaptive Control System Design for Robotic Aircrafts

This paper presents novel methods of the synthesis of adaptive control systems for the autonomous aircrafts, operating in non-formalized environment. A nonlinear multi-connected dynamic model is considered. The paper presents design method of search less adaptive control systems, design method of indirect adaptive control systems, and design method of robust relay control systems. Modeling results approve proposed methods.

Mathematical model of robot on base of airship

This work is aimed at mathematical model of unmanned robotized airship. An airship can be controlled remotely by pilot or fly autonomously. Nonlinear interrelated model of an airship, considering kinematics and dynamics, main propulsion drives and ballonets is developed. Also mathematical model of external environment is presented. Results of CFD researches for aerodynamics are presented.

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.

Development of Simulator for Intelligent Autonomous Underwater Vehicle

Testing and debugging of real equipment is a time consuming task. In particular, in the case of marine robots, it is necessary each time to carry out the transportation and deployment of a robot on the water. Experiments with not yet fully functional prototype of marine robot equipped with expensive hardware is in the meantime very risky. Therefore, the use of simulators is affordable way to accelerate the development of robotic systems from the viewpoint of labor effort and cost of experiments. This paper presents a simulator specifically designed for autonomous unmanned underwater vehicles.

Decentralized Control of a Group of Homogeneous Vehicles in Obstructed Environment

The presented solution is a decentralized control system with a minimal informational interaction between the objects in the group. During control and path planning the obstacles are transformed into repellers by the synthesized controls. The main feature distinguishing the developed approach from the potential fields method is that the vehicle moves in the fields of forces depending not only on the mutual positions of a robot and an obstacle but also on the additional variables allowing solving the problem of robot’s path planning using a distributed control system (Pshikhopov and Ali, 2011). Unlike the work by Pshikhopov and Ali, 2011, here an additional dynamic variable is used to introduce stable and unstable states depending on the state variables of the robot and the neighboring objects. The local control system of each vehicle uses only the values of its own speeds and coordinates and those of the neighboring objects. There is no centralized control algorithm. In the local control algorithms the obstacles are represented as vehicles being a part of the group which allows us to unify the control systems for heterogeneous groups. An analysis was performed that proves existence and asymptotic stability of the steady state motion modes. The preformed simulation confirms the synthesis and analysis results.

Position-trajectory control system for robot on base of airship

This work is devoted to control system of unmanned robotized airship. Mathematical model is analyzed for controllability. Position-trajectory control system on the base of high-order nonlinear interrelated model of airship is suggested. System adaptation is implemented with robust estimation algorithms. Use of redundant control channels is solved on the base of minimum of applied control actions. Experimental results of system functioning are presented.

Application of Genetic Algorithms for Power Allocation as Optimization Problem with Linear Constraints

The paper proposes an approach to load distribution in a multilinked connected model of an energy grid with distributed generating energy sources in order to minimize the losses of electricity during its transportation, taking into account linear constraints. The proposed approach determines the level of generated energy by each energy source operating on a common aggregated load, which is the control task for the local power source management system in the global power system management. When solving the problem of minimizing power losses, linear restrictions are taken into account for maximum generation, maximum line utilization and power balance conditions within the power grid. To solve this problem in conditions of a large number of energy sources and consumers is proposed using genetic algorithms, which will allow to achieve an acceptable time for convergence of the search algorithm for the solution.

Decentralized control algorithms of a group of vehicles in 2D space

The problem of decentralized control of group of robots, described by kinematic and dynamic equations of motion in the plane, is considered. Group performs predetermined rectangular area passing at a fixed speed, keeping the line and a uniform distribution. The environment may contain a priori unknown moving or stationary obstacles. Decentralized control algorithms, based on the formation of repellers in the state space of robots, are proposed. These repellers form repulsive forces generated by dynamic subsystems that extend the state space of robots. These repulsive forces are dynamic functions of distances and velocities of robots in the area of operation of the group. The process of formation of repellers allows to take into account the dynamic properties of robots, such as the maximum speed and acceleration. The robots local control law formulas are derived based on positionally-trajectory control method, which allows to operate with non-linear models. Lyapunov function in the form of a quadratic function of the state variables is constructed to obtain a nonlinear closed-loop control system. Due to the fact that a closed system is decomposed into two independent subsystems Lyapunov function is also constructed as two independent functions. Numerical simulation of the motion of a group of five robots is presented. In this simulation obstacles are presented by the boundaries of working area and a movable object of a given radius, moving rectilinear and uniform. Obstacle speed is comparable to the speeds of the robots in a group. The advantage of the proposed method is ensuring the stability of the trajectories and consideration of the limitations on the speed and acceleration at the trajectory planning stage. Proposed approach can be used for more general robots’ models, including robots in the three-dimensional environment.

Research of Autonomous Surface Vehicle Control System

The paper presents result of automatic control system for autonomous surface vehicle research. The system is designed to organize autonomous performing of mission defined from ground control station. Structure, result of simulation, hardware and software implementation of autonomous surface vehicle and its navigation and control system as well as experiment results are described. In the paper authors research how autonomous surface vehicle movement depends on parameters of control system.

Autonomous Underwater Vehicle Mathematical Model and Simulator

Testing and debugging of real equipment is a time consuming task. In particular, in the case of marine robots, it is necessary each time to carry out the transportation and deployment of a robot on the water. Experiments with not yet fully functional prototype of marine robot equipped with expensive hardware is in the meantime very risky. Therefore, the use of simulators is affordable way to accelerate the development of robotic systems from the viewpoint of labor effort and cost of experiments. This paper presents a simulator specifically designed for autonomous unmanned underwater vehicles.