Victor Krukhmalev

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.

Implementation of Intelligent Control System for Autonomous Underwater Vehicle

This paper introduces the implementation of intelligent motion control and planning for autonomous underwater vehicle (AUV). Previously developed control system features intelligent motion control and planning subsystem, based on artificial neural networks. It allows detecting and avoiding moving obstacles in front of the AUV. The motion control subsystem uses position-trajectory control method to position AUV, move from point to point and along given path with given speed. Control system was tested in the multi-module simulation complex. Simulation showed good results – AUV successfully achieved given goals avoiding collisions not only with static obstacles, but also with mobile ones. That allows using the proposed control system for the groups of vehicles. Besides simulation, control system was implemented in hardware. AUV prototype passed tests in Azov Sea and proved its efficiency.

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.

Base Algorithms of the Direct Adaptive Position-Path Control for Mobile Objects Positioning

Problem of a mobile object positioning in the presence of determinate disturbances is considered in this paper. A mobile object is described by kinematics and dynamics equations of a solid body in three dimensional space. The control inputs of the mobile object are forces and torques. Design of adaptive control is based on position-path control method for mobile objects. In this article two algorithms of the adaptive position-path control are developed. The first algorithm is adaptive position-path control with integration component and a reference model. The second algorithm is adaptive position-path control with a reference model and an extended mobile robot model. Block diagram of the direct adaptive position-path control system with a reference model is suggested. Design procedures of the adaptive position-path control systems and stability analysis of the closed-loop systems are presented. Computer simulation results of the designed adaptive closed-loop systems with both constant and variable disturbances are presented. On base of the analysis and modeling results conclusions are provided.