Begell House Inc.
Journal of Automation and Information Sciences
JAI(S)
1064-2315
46
8
2014
On Navigation of the Wheeled Transport Robot
1-9
Vladimir B.
Larin
S.P. Timoshenko Institute of Mechanics of National Academy of Sciences of Ukraine, Kyiv, Ukraine
The problem of navigation of the simple wheeled transport robot is considered. Appreciably, the problem is solved not using accelerometers and gyros, but only by measuring the kinematic parameters of movement. Correction of navigating parameters is carried out by means of GPS signals. Both procedures are based on the fact that the wheeled robot is considered as a system with nonholonomic constraints. It should be noted, that the use of the criterion, similar χ2, for determination of "failure" in such navigating system is possible.
Modal Control of Crystallization Systems
10-17
Nikolay A.
Balonin
Saint-Petersburg State University of Aerospace Instrumentation (Russia)
Victor S.
Suzdal
Institute for Scintillation Materials of National Academy of Sciences of Ukraine, Kharkov
Yuriy S.
Kozmin
Institute for Scintillation Materials of National Academy of Sciences of Ukraine, Kharkov
For multivariable process of growing single crystals, the modal controller synthesis based on the method of the modal domination, is given. This method enables one to replace the choice of many eigenvalues of the closed system by the choice of one or more indicators, describing spectrum compression. The method of domination allows one to automatize choosing the desired spectrum and control the matrix norm of feedbacks on its iterations, which is important for physical realizability of controllers.
Effect of Dissipative Factors on Dynamical Processes in Controlled Technological Machine Aggregates
18-26
Vladimir A.
Krasnoshapka
V. M. Glushkov Institute of Cybernetics of National Academy of Sciences of Ukraine, Kyiv, Ukraine
Mathematical model for investigation of dynamical processes in controlled technological machine aggregates with considering dissipative factors of different physical nature was stated. It was shown that considering of only one type of dissipation and neglecting other ones can result in qualitative and quantitative errors in estimation of character of dynamical processes. Investigations showed that dissipation in contact zone of rolls and raw parts affects damping of oscillations of the main frequency. At the same time dissipation in electric motor promotes damping of oscillations on high frequencies. So, if we take into account one of the mentioned types of dissipations, then for certain relations of elastic-inertial parameters the modes of stationary oscillations are possible. For providing the given degree of stability of controlled technological group machine aggregate we suggested insertion of special dissipative means in one of elastic elements. We studied conditions, when it is necessary to insert auxiliary dissipative means and obtained formula for determination of characteristic of dissipative means.
Optimal Control of Heat Transfer Process
27-37
Miroslav M.
Kopets
National Technical University of Ukraine
"Igor Sikorsky Kiev Polytechnic Institute",
Kiev
Linear-quadratic problem of optimal control for heat transfer process is under consideration. We assume simultaneous usage of distributed and boundary controls. Author proposed for this problem the Lagrange multipliers method, moreover, the Lagrange function includes not only equations in partial derivatives, but boundary conditions too. For the mentioned problem of optimization the necessary conditions of optimality were obtained. Analysis of these conditions makes it possible to derive the Riccati integro-differential equation.
An Optimization Problem with a Fuzzy Set of Fuzzy Constraints
38-48
Sergey O.
Mashchenko
Kiev National Taras Shevchenko University
Mohammed Saad Ibrahim
Al-Sammarraie
Kiev National Taras Shevchenko University
The method of solving the mathematical programming problem with a fuzzy set of fuzzy constraints is proposed. The membership function of the fuzzy set of type 2, which is a set of its feasible alternatives is built. The properties of this set are investigated and problems of rational solutions choice are considered.
Semi-Stability of Main Operators in Differential Games with Non-Fixed Time
49-55
Ikrom M.
Iskanadjiev
Tashkent State Technical University (Uzbekistan)
Approximation properties of main operators of differential games of pursuit with unfixed time are studied and their stability for unilateral perturbations of initial data of differential game is proved.
On a Problem of Stabilization of Stochastic Differential-functional Equations with Impulse Markovian Perturbations and Constant Lag. Part I
56-66
Victor I.
Musurivskiy
Chernovtsy Yu. Fedkovich National University; and West-Ukrainian Economic and Law University, Chernovtsy, Ukraine
Vladimir K.
Yasinskiy
Chernovtsy National Yu. Fedkovich University, Chernovtsy, Ukraine
The problem of stability of stochastic differential-functional equations with impulse Markovian perturbations and constant lag is considered. This system is to be asymptotically stable by the probability and provide a predetermined transition process.
Evaluating the Functional Failure Probability of System with the Varying Efficiency by the Fast Simulation Method
67-76
Olga N.
Khomyak
V.M. Glushkov Institute of Cybernetics of National Academy of Sciences of Ukraine, Kiev
A Markov model of the system with the structure described by a fault tree with the efficiency is considered. A Markov process determines the required system efficiency level. The probability of functional failure when this level becomes higher than the existing one is investigated. A fast simulation algorithm is proposed. The conditions, ensuring the limitation of the relative mean-square error while the system reliability growing, is proposed. A numerical example is given.
Software Implementation of Numerical Method for Optimal Control in Problems of Preventive Medicine
77-83
Igor Ye.
Andrushchak
Lutsk Technical University, Lutsk
Analysis of software implemented direct method of determination of optimal control is done and obtaining of solutions of problems of preventive medicine is shown.