Begell House Inc.
Journal of Automation and Information Sciences
JAI(S)
1064-2315
34
7
2002
Control of Movement of Hopping Devices
15
10.1615/JAutomatInfScien.v34.i7.10
Vladimir M.
Matiyasevich
Institute of Mechanics of National Academy of Sciences of Ukraine, Kyiv, Ukraine
Vladimir B.
Larin
S.P. Timoshenko Institute of Mechanics of National Academy of Sciences of Ukraine, Kyiv, Ukraine
Flat model of a hopping vehicle and two its modifications are considered. Both modifications have two legs. The body of the vehicle is considered to be rigid. In the models both legs are assumed to be inertial. The effort in a stance leg develops by compressing a spring built in a leg. The main executive mechanism of a leg is a direct current motor. The selection of a program mode of motion of such devices is reduced to a problem of nonlinear programming. Synthesis of a system of stabilization is based on the stabilizing solution of a discrete periodic Riccati equation.
Expanding Control Potential by New Means of Representation and Processing of Knowledge
12
10.1615/JAutomatInfScien.v34.i7.20
Stanislav N.
Vassilyev
Institute of System Dynamics and Control Theory of Siberian Branch of Russian Academy of Sciences, Irkutsk, Russia
The paper presents a survey of some results obtained in Institute of System Dynamics and Control Theory of Siberian Branch of Russian Academy of Sciences in development of some new methods for logical control of dynamical systems. This scientific direction was founded in sixties, however some fundamental difficulties of deduction problem prevented development of automatic deduction in the control loop. The main goal of this paper is to demonstrate, that technique of automatic theorem proving even now has been developed to the state of applicability in intelligent control of complex systems. There are two basic reasons for that. The first one is that modern intelligent control systems are yet lacking the necessary intelligence level. The second reason is conditioned by possibilities and advantages of some new logical tools, which allow one to overcome difficulties in application of first-order and other powerful logics in problems of real-time control. This logical tool is described in the paper. We present information of its applications with reference to more detailed publications. The major applications are related to control of moving objects.
Optimal Control of the System Described by Parabolic Equation with Conjugation Condition
20
10.1615/JAutomatInfScien.v34.i7.30
Ivan V.
Sergienko
V.M. Glushkov Institute of Cybernetics of National Academy of Sciences of Ukraine, Kyiv, Ukraine
Vasiliy S.
Deineka
V. M. Glushkov Institute of Cybernetics of National Academy of Sciences of Ukraine, Kyiv, Ukraine
New problems of optimal control of distributed systems described by parabolic equation with boundary conditions nonideal contact conjugation conditions and quadratic cost function are considered.
Resonant Dynamic Stabilization of the Inverted Pendulum with Two Degrees of Freedom
14
10.1615/JAutomatInfScien.v34.i7.40
Alexey A.
Loginov
Institute of Space Research of National Academy of Sciences of Ukraine and National Space Agency of Ukraine, Ukraine
We consider stabilization of the inverted pendulum with two elastically connected levers. Application of parametric amplification by means of the resonant perturbation of internal elastic oscillations is suggested. We compare the resonant mechanism of keeping the instable equilibrium with the well-known direct dynamic stabilization of the inverted pendulum. Significant energy advantage of the suggested method is shown.
On Construction and Investigation of General Solutions of Problems of Terminal Control for Hyperbolic Systems
13
10.1615/JAutomatInfScien.v34.i7.50
Sergey D.
Voloshchuk
Kyiv National Taras Shevchenko University, Ukraine
Vladimir Antonovich
Stoyan
Kyiv National Taras Shevchenko University, Kyiv, Ukraine
The problems of terminal control for hyperbolic systems in bounded time-space domains are stated and solved. We consider the cases when along with distributed external dynamic perturbations initial and boundary conditions are also controlling factors, and the terminal state is set in discrete points or continuously. The conditions of accuracy and uniqueness of problem solutions are investigated.