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• COMPARATIVE ANALYSIS OF CENTRALIZED AND DECENTRALIZED ALGORITHMS FOR THE MOVEMENT OF MULTICOPTER-TYPE UAVS

  М.Y. Medvedev, V.K. Pshikhopov

  2022-04-21

  Abstract ▼

  The development of robotics makes their group application relevant for solving various
  tasks. The effectiveness of performing the tasks of detecting and determining the coordinates of
  objects by a group of robots significantly depends on the accuracy of maintaining a given formation.
  In this regard, the task of determining motion planning algorithms that ensure the greatest
  accuracy of maintaining a given formation is of practical interest. This article is devoted to the
  study of the accuracy of maintaining the formation of a multicopter-type UAV group using a centralized
  motion planning algorithm and a decentralized algorithm. The centralized algorithm uses
  a master UAV, which transmits its coordinates to the slave UAVs. Based on the coordinates obtained
  and the given framework of the formation, the guided UAVs plan their movement. In a decentralized
  system, neighboring UAV groups transmit their coordinates to each other, on the basis
  of which the movement of a separate UAV is planned. The accuracy of the control system is investigated
  depending on the errors of the navigation system and the frequency of updating data on the
  position of the leading or neighboring UAVs. It is assumed that the group's UAVs determine their coordinates in discrete moments of time using an external navigation system. Centralized and
  decentralized algorithms are worked out by the same motion control system. The algorithms are
  investigated in this article by numerical modeling methods. In the process of simulation, models of
  kinematics, dynamics and actuators are taken into account, as well as models for the formation of
  errors in the navigation system. It is shown that the de-centralized algorithm of group motion
  planning provides higher accuracy compared to the centralized algorithm. However, the technical
  implementation of a decentralized algorithm is more complicated from the point of view of organizing
  a group communication system. In a centralized system, data transmission from the master
  UAV to the slave should be implemented. In a decentralized system, it is required to implement
  network communication.

• RESEARCH OF AN INTELLIGENT ADAPTIVE CONTROL ALGORITHM BASED ON THE REINFORCEMENT LEARNING METHOD

  А. N. Karapeev, Е.Y. Kosenko, М. Y. Medvedev, V. K. Pshikhopov

  2025-04-27

  Abstract ▼

  An algorithm for adaptive control of a DC motor based on the use of machine learning technology
  with reinforcement is proposed and investigated. An overview and brief analysis of the state of affairs in
  the field of intelligent motor control systems is given. A mathematical model of the DC motor is presented,
  and a structural scheme for training an intellectual agent is presented. An intelligent adaptive motor speed
  control system is proposed. The DC motor is represented as a black box with the limited input and output.
  The control system is based on a zero-order Q-learning algorithm. It is assumed that the output of the
  intelligent agent is a control applied to the motor input. The intelligent system uses a tabular approximation
  of the value of each of the control action. In this article, we study the effect of the discreteness of the
  representation of state, the set of control effects used, the applied rewards, and the parameters of the
  learning algorithm on the control error. The sensitivity of the control system to the parameters of the motor
  and an unmeasured moment is investigated. Based on the results of the study, a modified algorithm is
  proposed, which assumes the measurement or evaluation of the current of the motor stator. The control
  algorithm provides robustness to parameters and external disturbance. Additionally, the approximation of
  the control value function using polynomials and using a neural network are investigated

• APPLICATION OF BLUETOOTH LOW ENERGY TECHNOLOGY TO CONTROL THE MOVEMENT OF PEOPLE INDOOR

  Y.А. Zargaryan, V.I. Koshensky, К. О. Kirsanov, М. S. Presnyakov

  103-118

  2025-07-31

  Abstract ▼

  Tracking the location of a person in a big country, a big city, and even an area has long
  been a reality. Thanks to satellites, it became possible to know exactly where a person is. However,
  such technologies are more intended for positioning in open areas, and their signal is not able
  to overcome large reinforced concrete structures, as well as walls and ceilings in a building.
  This article proposes a solution to this problem, considers the system for controlling the movement
  of people in the premises. Such a system not only determines the position where a person is located,
  with an accuracy of half a meter, but also creates a database that displays the date, time and
  place of a person’s discovery, as well as his identification, indicating who exactly was discovered.
  The system described in this article is very easy to understand and has a low cost. It works with
  the ESP32 microcontroller and is based on Bluetooth Low Energy wireless data transfer technology.
  The ESP32 microcontroller acts as a signal scanner with the RSSI parameter. The received
  data, namely RSSI and a unique identifier, which is aimed at determining the identity of a person,
  are sent to the ThingSpeak server, where the distance to the source, which is the smartphone, is
  calculated, determining its location and recording movement. This uses methods to improve accuracy,
  such as the Fingerprint algorithm. In the entire room at the installation stage of the system,
  "fingerprints" are collected within the controlled area, reference RSSI values are determined at
  such control points, and it is on their basis that a person's location is determined. Also, this material
  discusses the solution of the problem of identifying and controlling the approach of people to
  a protected object and the organization of a system for collecting and storing statistics on visiting
  a controlled object.
  
  

• ALGORITHM FOR OPTIMAL CONTROL THE DIGITAL TWIN OF THE ENTERPRISE

  S.N. Masaev

  2021-08-11

  Abstract ▼

  The volume of processed information increases when analyzing and control the activities of an
  enterprise as a system. The amount of processed information directly depends on the dimension of
  this system. In the work, the activity of the enterprise is formalized as a digital twin of the enterprise.
  The digital twin of the enterprise is analyzed as a dynamic system. The enterprise was identified as a
  dynamic system. The digital twin of the enterprise is formalized as V. Leontiev's balance model. An
  algorithm for optimal control of the digital twin of the enterprise has been created.
  The following functions are considered as parameters of optimal control: the trajectory of the system,
  the execution time of the algorithm and the indicator of the state of the system. In the algorithm for
  enterprise control, the following methods were used: Bloom's taxonomy, the competence of graduates
  in the SFU specialties and the National Qualifications Framework of the Russian Federation. The
  identification of the enterprise processes is carried out by the method for which the patent has been
  obtained. The algorithm is implemented in the author's software package for analyzing a system with
  a dimension of 1.2 million values. The study showed significant changes in the values of the optimal
  control functions characterizing the states of a dynamic object, depending on the selected techniques.
  Calculations have shown how the choice of control method affects the optimality of decisions. The
  state of the enterprise is displayed through the competencies of the personnel: psychomotor, cognitive
  and affective. It was found that with low cognitive and affective abilities of the staff, psychomotor
  activity begins to prevail, which leads to little result. With the growth of the cognitive abilities of thepersonnel, psychomotor activity becomes more adequate to the internal tasks and the influence of the
  parameters of the external environment. An integral indicator was used to assess the implementation
  of methods in enterprise control. The estimation of the optimality of the solution for control the digital
  twin of the enterprise as a dynamic system is carried out.

• METHODOLOGY AND RELIABILITY MODELING OF THE GROUP CONTROL SYSTEM FOR ROBOTIC PLATFORMS

  A. S. Boldyrev, A. L. Verevkin, K. V. Pshikhopova , L. S. Verevkina

  2020-10-11

  Abstract ▼

  One of the most relevant areas of robotics development is the design of group cont rol
  systems. In the proposed structure, a group of five robotic platforms (RP) is controlled from a
  wearable or stationary remote control. This composition of the group determines schemeswith tunable connections between the components and changes in the principles of operation.
  The article presents experimental studies of the computational efficiency of methods for planning
  RP trajectories in space and defines the optimal method and the required parameters of
  the RP computer. Variants of schemes with different numbers of RP are considered, as well
  as models of cold backup of RP, remote controls, and the entire system. With such a variety
  of configurations, problems arise in justifying and selecting calculation methods, and in
  providing an unambiguous, generalized representation of the reliability parameters of a
  group control system. Increased requirements for the reliability of components of the group
  management system require an accurate assessment of reliability and are dictated by the
  significant cost of equipment and functional purpose. The developed method is intended for
  modeling the reliability of the developed system of group control of robotic platforms RP.
  The proposed method shows the use of structural, probabilistic and matrix methods for ca lculating
  reliability models of a group control system. An approach to modeling the reliabi lity
  of integer, redundant, sliding, and cold redundancy of RP and control panels is also pr oposed.
  The results of numerical calculations of the reliability parameters of the group management
  system allow us to assess the risks and choose modes, depending on the required
  efficiency of the mission.

• ANALYTICAL SYNTHESIS OF THE CONTROL ALGORITHM FOR THE ELECTRIC BRAKING SYSTEM OF THE AIRCRAFT LANDING GEAR

  A.Z. Asanov, A.V. Kukovinets, A.Y. Chekin

  2022-03-02

  Abstract ▼

  Nowadays, researchers are developing technologies in the aviation industry related to the
  electrification of aircraft functional systems. The braking system has a direct impact on the safety,
  stability and functionality of the aircraft. Therefore, the motivation for replacing the hydraulic
  system is accompanied by the results of comprehensive studies of the architectures of electric
  braking systems, including the possibility of improving the quality of such systems through the
  introduction of effective control. The work is devoted to the methodology of analytical synthesis of
  the control algorithm for the electric braking system of the aircraft landing gear, as a multiconnected
  control object, based on the theory of embedded systems. The mathematical model contains
  a description of the electrical, mechanical and thermal processes of the system. The require ments for the quality of transients in terms of the angular velocity of the wheel and the temperature
  on the surface of the frictional disc are set in the form of restrictions on the settling time and overshoot
  and then transformed into the form of a reference model. The results of computer simulation
  of the dynamics of the initial and linearized systems, as well as a system with a synthesized regulator
  by the full vector of states are shown. The discussion about the robustness of the resulting solution
  are presented and the results of computer simulation of a system with a "simplified" regulator
  are shown.

• STOCHASTIC DYNAMIC MODEL OF UNDERWATER WIRELESS SENSOR NETWORK BASED ON LOUVAIN CLUSTERING ALGORITHM

  А.М. Maevsky , V.А. Ryzhov , Т. А. Fedorova , I. V. Kozhemyakin , N.М. Burov

  62-81

  2025-07-24

  Abstract ▼

  Underwater wireless sensor networks (UWSNs) play an important role in monitoring ocean processes, underwater navigation, environmental control and security. However, underwater environment features such as high signal attenuation, limited energy resources and changing network topology create significant challenges in organizing efficient data transmission. To optimize network operation and extend its service life, a clustering method is used to group nodes, reduce the load on communication channels and improve energy efficiency. However, in the event of network node failure, static clustering becomes ineffective, which requires the implementation of dynamic reclustering. The procedure of redistributing node roles and rebuilding the network topology allows maintaining communication stability and minimizing data losses, taking into account the energy balance of the entire network as a whole. This paper examines modern approaches to clustering and reclustering in UWSNs taking into account the energy balance, node failure probability and interference in the transmission medium. The development of adaptive UWSN control methods is an urgent task aimed at increasing the reliability, energy efficiency and durability of underwater communication networks. The article presents a stochastic cross-level model for dynamic three-dimensional PBSNs of arbitrary topology. The model uses a new clustering/reclustering technique based on the Louvain algorithm, a routing protocol built on the Dijkstra method, and a time-domain management (TDMA) method. The proposed PBSN operating model is the basis for the developed simulation complex, which allows assessing the efficiency and reliability of the network, taking into account the loss of connectivity and vulnerabilities for PBSNs of various scales and purposes. As part of the research, a parametric analysis of systematic calculations of the PBSN functional characteristics was performed. The results of the analysis showed that the proposed simulation model provides an increase in the autonomous network operation time and a decrease in the number of lost messages compared to the models of other authors

• REINFORCEMENT LEARNING METHODS IN ADAPTIVE CONTROL OF NONLINEAR DYNAMIC OBJECTS

  М.Y. Medvedev , V.K., А.R. Gaiduk , I.М. Medvedev , Е.Y. Kosenko

  2026-04-29

  Abstract ▼

  The relevance of the problem of adaptive control of nonlinear dynamic objects is ensured by the ever-increasing demands on the quality and operating conditions of technical systems. Automation and robotics lead to an increase in the complexity of the problems being solved and the need to adapt to structural and parametric uncertainty and external disturbances. In recent years, the use of reinforcement learning methods for the synthesis of adaptive control systems has gained popularity. These methods demonstrate effectiveness in controlling uncertain dynamic objects. However, there are two fundamental problems with the application of machine learning methods to control systems for dynamic objects. First, the need to ensure asymptotic stability of the desired trajectory of a closed-loop system limits the application of deep learning methods. Second, during the learning process, it is necessary that the intelligent controller does not generate controls that lead to state variables exceeding specified limits. The purpose of this article is to review and analyze recent advances in the application of reinforcement learning methods to the synthesis of adaptive control systems for nonlinear dynamic objects. Particular attention is given to Actor-Critic methods, which are structurally similar to adaptive control systems with self-adjusting parameters. Based on the analysis, the structure of an adaptive system with two-component control, including nominal and adaptive controllers, is proposed. An adaptive control algorithm is proposed, distinguished by the use of a modified Actor-Critic algorithm, distinguished by a new form of the delta error and the absence of a singularity in the neighborhood of zero. The proposed algorithm allows for a reduction in the number of adjustable parameters. The article presents conditions for Lyapunov stability of the zero-equilibrium position of a closed-loop system and an example of the synthesis and modeling of the proposed adaptive control algorithm