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编号 3 (2025)
ТЕОРИЯ СИСТЕМ И ОБЩАЯ ТЕОРИЯ УПРАВЛЕНИЯ
SYSTEM OF CONTROLLED MOVING OBJECTS WITH THE MODE OF THE ATTRACTIVE CYCLE
摘要
A set of conservative systems is considered, allowing oscillations of a given period. The problem of aggregating the set into a coupled system with an attractive (in a large) cycle, in which the phase control law in the systems is realized, is solved. An approach is developed in which a Van der Pol oscillator with an adjustable frequency is used as a control signal generator, acting through one-way links--control on the systems of the set : in the aggregated system, there are no direct links between the systems . The control system is described by autonomous equations.
Teoriâ i sistemy upravleniâ. 2025;(3):3-9
3-9
CONTROL IN DETERMINISTIC SYSTEMS
APPLYING THE CAYLEY–HAMILTON THEOREM TO ANALYTIC SYNTHESIS OF MODAL CONTROL BY OUTPUT FOR LINEAR TIME-INVARIANT SYSTEMS HAVING THE ORDER EQUAL TO THE PRODUCT OF INPUTS AND OUTPUTS
摘要
A new analytical approach to static output feedback pole placement for linear time-invariant systems having the order equal to the product of inputs and outputs, and controllability and observability indices take the highest and the lowest possible values is proposed. The approach uses the Cayley–Hamilton theorem in relation to a closed-loop control system matrix. The applicability of the proposed method of static output feedback pole placement is not limited only by fourth-order systems with two inputs and two outputs. Besides, the method applicability does not depend on whether the system is reducible to modal control by state with fewer inputs or to modal observation with fewer outputs. On the examples of sixth-order multi-input multi-output systems not reducible to systems with fewer inputs or outputs, the process of obtaining analytical solutions to the problem of modal control by output, providing desirable pole placement is demonstrated. For systems from the considering class, the obtaining solutions are unique.
Teoriâ i sistemy upravleniâ. 2025;(3):10-28
10-28
OPTIMAL MANAGEMENT
ON OPTIMAL CONTROL OF THE WHEEL RADIUS WHEN ROLLING ALONG A HORIZONTAL NON-DEFORMABLE SURFACE
摘要
Continuous change of the support wheels radius of the vehicle provides the possibility of continuous control of its operational properties. These properties include: driving stability, controllability, cross-country ability, etc. It change is rational to make while minimizing heat losses in the actuator. The motion without slip of a rigid wheel with a continuously changing radius on a flat horizontal non-deformable surface is considered.A mathematical model is proposed to describe the dynamics of constant-speed plane-parallel motion of the specified wheel while controlling the value of its radius. It is based on the hypothesis that there is not slippage in contact between the wheel and the supporting plane. The obtained mathematical dependencies allow us to determine the optimal control mode when changing the radius based on the criterion of minimum heat loss in the actuator that ensures this change. The results of the research can be used to control the parameters of vehicles operational properties, as well the wheeled robots moving on unorganized surfaces.
Teoriâ i sistemy upravleniâ. 2025;(3):29-36
29-36
PROGRAM CONTROL OF A SPACECRAFT WITH ELECTRIC PROPULSION ENGINES IN THE VICINITY OF AN ASTEROID
摘要
The article considers the control of the center of mass motion of a spacecraft with a low-thrust propulsion system in the vicinity of an irregularly shaped asteroid. Formation of the motion control program during mission planning is complicated by incomplete knowledge of the asteroid’s gravity. A superposition of N attractive points rotating with the asteroid’s own angular velocity at a constant distance can be used as a mathematical model of the asteroid’s gravitational potential. A preliminary study of the research object allows calculating the characteristics of such a model with two attractive centers. Software control in the vicinity of the asteroid for target maneuvers is formed on the basis of a combination of locally optimal control laws and the developed algorithm of relay switching between them with a dead zone. The developed algorithms and methods are illustrated by the results of modeling the spacecraft motion in the vicinity of the asteroid 433 Eros.
Teoriâ i sistemy upravleniâ. 2025;(3):37-45
37-45
SPEED OF GROUPS OF MOVING OBJECTS VARIABLE COMPOSITION
摘要
The problem of controlling groups of moving objects is considered. Each group is composed of simple objects of control and moves as a single (composite) object of control. During the movement, each group can be divided into subgroups or, conversely, connected with other groups. In this case, the dynamic capabilities of the group change, since they depend on its composition. The initial and final states of each simple object are specified. The problem of the fastest achievement of all final states, i.e. the problem of group speed, is solved.
Teoriâ i sistemy upravleniâ. 2025;(3):46-59
46-59
COMPUTER METHODS
DISCRETE ALGORITHMIC PROCESSES: REAL TIME, PARALLELISM, COMPLEXITY, LANGUAGES
摘要
Models and languages for descriptions and control of real time execution of discrete algorithmic processes are considered in the paper. Processes are divided into two groups: free and of real time processes. New operations for composition of parallel processes and language for their descriptions are proposed. The methods of parallel processes complexity evaluation are introduced.
Teoriâ i sistemy upravleniâ. 2025;(3):60-69
60-69
SYSTEM ANALYSIS AND OPERATIONS RESEARCH
CONTROL OF UNMANNED AND MANNED AERIAL VEHICLES GROUP OPERATIONS IN CONDITIONS OF ACTIVE COUNTERACTION
摘要
Рассмотрена задача группового управления летательными аппаратами в условиях активного противодействия при разных скоростях потерь своих сил, превосходящих противника или ему уступающих. При оценке эффективности парного противодействия предложена мультипликативная свертка, учитывающая потери обеих сторон и их стоимость. Сформирован минимаксный алгоритм группового целераспределения разнотипных летательных аппаратов с учетом степени их соответствия в каждой паре. Предложено использование искусственного интеллекта в виде нескольких нейронных сетей при формировании примеров их обучения на моделирующем комплексе.
Teoriâ i sistemy upravleniâ. 2025;(3):70-83
70-83
FORMALIZATION OF CRITERIA FOR THE MULTI-PARAMETRIC SELECTION OF TURBOFAN ENGINE PAIRS FOR POWERPLANTS OF TWIN-ENGINE AIRCRAFT AND DEVELOPMENT OF THEIR AUTOMATIC CONTROL STRUCTURE TO REDUCE THRUST ASYMMETRY.
摘要
The issues related to the study of the possibilities of automatic thrust control of turbojet twin-circuit engines by the power plant of a twin-engine aircraft in flight are considered. The purpose of the study is to formalize criteria for the multiparametric selection of turbofan pairs for power plants of twin–engine aircraft and to develop the structure of the automatic control system for such installations to reduce the asymmetry of thrust of their engines in flight. During the research, methods of software modeling of algorithms for automatic control of multi-thrust turbojet engines of twin-engine power plants were used. As a result of the study, criteria for the multiparametric selection of pairs of such engines for twin-engine power plants have been formalized for three thrust parameters of turbojet twin-circuit engines of the same series at once and the structure of the automatic control system of the power plant of a twin-engine aircraft to eliminate the asymmetry of thrust of its engines in flight was developed.
Teoriâ i sistemy upravleniâ. 2025;(3):84-90
84-90
ARTIFICIAL INTELLIGENCE
PREDICTING THE NETWORK SERVICE QUALITY VIA THE LOG OF HARDWARE USAGE
摘要
The costs of using a cloud computing infrastructure depend on its optimal configuration. The task is to reduce these costs and to support service quality at agreed level at the same time. To solve these tasks, we need methods for predicting the quality of the network service provided. Such predictions based on the logs of computing infrastructure usage, machine learning and methods for estimating service execution times are the subject of these work. These logs data are obtained through measurements and previously collected data on the operation of the telecommunications infrastructure. Measurements of infrastructure performance and service performance generate large amounts of data. The article discusses various methods for reducing dimensions and isolating significant variables in order to estimate discrepancies between target and predicted characteristics. In experiments, combining the model of a random forest with the method of reducing the dimensions via the principal component analysis has shown the best way.
Teoriâ i sistemy upravleniâ. 2025;(3):91-98
91-98
HYBRID METHOD OF IMAGE ANALYSIS BASED ON ARTIFICIAL INTELLIGENCE TECHNOLOGIES AND FUZZY SETS
摘要
The paper deals with the development of a prototype of a hybrid intelligent system for image analysis on the example of the task of diagnosis and staging of diabetic retinopathy – a complication of diabetes mellitus, characterized by damage to the retinal vessels. As a result of chronically elevated blood glucose levels, microcirculation is impaired, leading to the development of microaneurysms, exudation, hemorrhage and, in severe cases, neovascularization. This can lead to visual impairment and, ultimately, to blindness in the absence of timely treatment. Detection and staging of the disease are based on the analysis of photographic images of the ocular fundus (fundus images). An overview of the research topic is given, the basis for the advantages of hybrid intelligent systems in comparison with solutions based on the application of a single technology is presented. The steps of creating a system that combines the joint use of classical methods of computer vision, artificial neural networks, elements of fuzzy logic theory and methods of explainable artificial intelligence are described. With the help of combined architecture of the software solution it was possible to achieve flexibility in the issues of applicability of criteria of disease staging, which indicates the broad prospects of such a solution in the diagnosis of other diseases with logically formalizable criteria.
Teoriâ i sistemy upravleniâ. 2025;(3):99-112
99-112
FORMATION OF GROUPS OF IDENTICAL OBJECTS
摘要
An approach to improving the structural consistency is considered. The purpose of the study is to select a method for combining identical objects into groups, since it is identical objects that can effectively exchange information and use the information obtained as a result of this exchange. To achieve this goal, a number of experiments with different methods were conducted, after which the best one was selected in terms of the target quality measure and latency. The proposed approach allows taking into account various characteristics of objects and the relationships between them. This ensures accurate determination of identical objects. The proposed approach also has an efficient implementation for distributed computing systems. This makes it fast even on large amounts of data. The comparison of the approaches under consideration is made using the example of the problem of searching for identical products for managing assortment and supplies.
Teoriâ i sistemy upravleniâ. 2025;(3):113-120
113-120
CONTROL SYSTEMS FOR MOVING OBJECTS
STABILIZATION OF CHAIN OF INTEGRATORS UNDER STATE CONSTRAINTS
摘要
The problem of stabilizing the origin for dynamical systems written as a chain of integrators of arbitrary length is solved, taking into account constraints on absolute values of the state variables. It is shown that linear stabilizing state feedback based on the modal control principle ensures the fulfillment of the specified constraints on the state variables when choosing roots of the characteristic polynomial of the closed-loop system to satisfy nonlinear inequalities. The derived conditions on the roots of the characteristic polynomial are based on the results obtained using the integrator backstepping design combined with logarithmic barrier Lyapunov functions. As an illustrative example, the solution to the problem of stabilizing a given angular position of a single-link manipulator is considered. It is guaranteed that magnitude constraints on values of the angular coordinate, angular velocity, angular acceleration and jerk of the manipulator end-point are satisfied.
Teoriâ i sistemy upravleniâ. 2025;(3):121-132
121-132
BIQUATERNION SOLUTION OF THE PROBLEM OF OPTIMAL MINIMUM TIME CONTROL OF THE SOLID SPATIAL MOTION
摘要
The problem of optimal in the sense of minimum time program control of the spacecraft spatial motion, equivalent to the composition of angular (rotational) and translational (orbital) movements, is investigated. The spacecraft is considered as a free solid of arbitrary dynamic configuration. The boundary conditions for the angular and linear location of the spacecraft, as well as for the angular and linear velocities of the spacecraft are arbitrary. The components of the dual vector function of the optimized control (the dual composition of the vector of the absolute angular acceleration of a solid and a vector equal to the local derivative of the vector of the absolute velocity of the center of mass of the solid (component of the vector of the absolute linear acceleration of the center of mass of the body)) is limited in the its modules. The vectors of the program control force and the program control moment are found in accordance with the concept of solving inverse dynamics problems. To solve the problem, we used the new biquaternion equations of spatial motion of a solid proposed by us where the parabolic Clifford biquaternion (dual quaternion) is used to describe spatial motion. Also the equivalent quaternion equations are used to describe spatial motion with two Hamilton quaternions. Within the framework of the concept of solving inverse problems of dynamics a differential boundary value problem of the twenty-eighth order is obtained using the Pontryagin maximum principle. Examples of numerical solutions of this boundary value problem are given for the cases when the mass distribution of a spacecraft corresponds to a spherically symmetric body and the International Space Station as an arbitrary solid. At the same time, the difference between the initial and final orientations of the spacecraft is large in angular measure and small in linear displacement (we consider the problem of spatial maneuvering). The analysis of the obtained numerical solutions is given.
Teoriâ i sistemy upravleniâ. 2025;(3):133-151
133-151
РОБОТОТЕХНИКА
MORS: BLDC BASED SMALL SIZED QUADRUPED ROBOT
摘要
The article describes the mechanical design, electronics and control software of the new quadruped robot MORS. The robot is intended for education and research fields. It is relatively small and lightweight and has modular design to simplify production and assembly. The robot is driven by brushless DC motors governed by the Field-Oriented Control. The trot gait is chosen as the basic one. The locomotion control algorithm is based on Zero Moment Point Preview Control method. The desired zero moment point is generated by tracking the intersection of projections of diagonally opposite legs. Software of the robotic platform is completely open sourced. To test the performance of all robot components, a number of experiments were conducted both in simulation and on the hardware platform. The experimental results demonstrate the efficiency of the robot walking in different directions with velocity up to 1.2 m/s and a load capacity of up to 7 kg, which is almost equal to its own weight.
Teoriâ i sistemy upravleniâ. 2025;(3):152-176
152-176