scholarly journals MODELS AND DESIGNING METHODS FOR THE DYNAMICALLY RECONFIGURABLE GROUP CONTROL SYSTEM FOR MOBILE ROBOTS

2021 ◽  
Vol 63 (1) ◽  
pp. 130-139
Author(s):  
Aleksei V. Kozov ◽  
Keyword(s):  
Control System ◽  
Mathematical Models ◽  
Mobile Robots ◽  
Computer Aided Design ◽  
Discrete Event ◽  
Variable Structure ◽  
Design Methods ◽  
Variable Structure Systems ◽  
Dynamically Reconfigurable ◽  
Group Control

High adaptability is an important requirement for the control system over a group of mobile robots operating in a nondeterministic changing environment. The group control system must ensure that the group task is completed when the structure of the group or the environment changes. Such adaptability can be achieved through dynamic reconfiguration of the control system. The article discusses the mathematical models of a dynamically reconfigurable system from the standpoint of computer-aided design. A review of mathematical models of variable structure system, reconfigurable control systems and their design methods is presented. The paper deals with set-theoretic, analytical, discrete-event models of variable structure systems and methodologies of designing reconfigurable systems. It is shown that the existing design methods do not fully provide the required adaptability of designed group control system. The paper compares the group control system and the reconfigurable multiprocessor computing system and shows how to increase adaptability and autonomy of designed control system using principles of reconfigurable computing systems designing.

scholarly journals DESIGN OF THE CONTROL SYSTEM BY MOVEMENT OF ROBOTS MOBILE GROUP IN CONDITIONS OF UNCERTAINTY

2018 ◽  
Vol 22 (4) ◽  
pp. 112-122
Author(s):  
A. R. Gaiduk ◽  
I. A. Kalyaev ◽  
S. G. Kapustyan ◽  
I. O. Shapovalov
Keyword(s):  
Adaptive Control ◽  
Control System ◽  
Mathematical Models ◽  
Mobile Robots ◽  
Control Systems ◽  
Transfer Functions ◽  
Digital Processing ◽  
Suggested Method ◽  
Analytical Design ◽  
Adaptive Control Systems

Many controlled plants, in particular mobile robots, solve various tasks in a priori uncertain conditions. In this connection their mathematical models necessary for creation of qualitative control systems are unknown. Therefore development of design methods of adaptive control systems is actuality. The big uncertainty of this control problem makes application of adaptive systems with identification by the most expedient. In article the new analytical design method of adaptive control systems by movement of mobile robots group in the uncertainty conditions is offered. This method is focused on the decision of a task of identification of the current mathematical models of robots with the subsequent design of a control system by movement of each robot. The suggested method can be realized automatically as required. It is developed on a basis of the markov method of identification, the method of analytical design of systems with control on output and impacts, and also the standard normalized transfer functions are used. As a whole this method allows to design of the adaptive control systems with desirable qualitative properties. Trial step functions of the small intensity and the original method of digital processing of the information are used at identification. Property of system invariancy of the markov parameters and their direct connection with factors of the discrete dynamic systems transfer functions are a basis of the method of digital processing of the information. It is supposed, that the mobile robots are full or can be stabilized at all possible values of their order and parameters. The suggested method can be used for creation of control systems by the various technical plants functioning in conditions of uncertainty.

Biogeography-Based Optimization for Robot Controller Tuning

2011 ◽  
pp. 162-181 ◽  
Author(s):  
Paul Lozovyy ◽  
George Thomas ◽  
Dan Simon
Keyword(s):  
Control System ◽  
Mathematical Models ◽  
Mobile Robots ◽  
Cost Function ◽  
Real World ◽  
Optimization Problems ◽  
Tracking Error ◽  
Robot Controller ◽  
Distributed Implementation ◽  
Error Cost

This research involves the development of an engineering test for a newly-developed evolutionary algorithm called biogeography-based optimization (BBO), and also involves the development of a distributed implementation of BBO. The BBO algorithm is based on mathematical models of biogeography, which describe the migration of species between habitats. BBO is the adaptation of the theory of biogeography for the purpose of solving general optimization problems. In this research, BBO is used to tune a proportional-derivative control system for real-world mobile robots. The authors show that BBO can successfully tune the control algorithm of the robots, reducing their tracking error cost function by 65% from nominal values. This chapter focuses on describing the hardware, software, and the results that have been obtained by various implementations of BBO.

Ultrasonic sensor system for the uses in intelligent motion control system of a mobile robots group

2010 ◽  
Vol 7 ◽  
pp. 109-117
Author(s):  
O.V. Darintsev ◽  
A.B. Migranov ◽  
B.S. Yudintsev
Keyword(s):  
Control System ◽  
Mobile Robot ◽  
Mobile Robots ◽  
Motion Control ◽  
High Speed ◽  
Ultrasonic Sensor ◽  
Sensor System ◽  
Motion Control System ◽  
Speed Sensor ◽  
Working Space

The article deals with the development of a high-speed sensor system for a mobile robot, used in conjunction with an intelligent method of planning trajectories in conditions of high dynamism of the working space.

Synthezis the strucrure of cloud computing system to control of mobile robots group

2016 ◽  
Vol 11 (1) ◽  
pp. 72-80
Author(s):  
O.V. Darintsev ◽  
A.B. Migranov
Keyword(s):  
Cloud Computing ◽  
Mobile Robots ◽  
Distinctive Feature ◽  
Information Exchange ◽  
High Performance ◽  
Computing System ◽  
Control Information ◽  
Cloud Computing System ◽  
Group Control ◽  
Reliability And Robustness

In article one of possible approaches to synthezis of group control of mobile robots which is based on use of cloud computing is considered. Distinctive feature of the offered techniques is adequate reflection of specifics of a scope and the robots of tasks solved by group in architecture of control-information systems, methods of the organization of information exchange, etc. The approach offered by authors allows to increase reliability and robustness of collectives of robots, to lower requirements to airborne computers when saving summary high performance in general.

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