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• SYNTHESIS OF A ROBUST ACS WITH A DYNAMIC COMPENSATOR AND A STATE OBSERVER WITH CORRECTIVE FEEDBACK BASED ON SIGMOID FUNCTIONS

  N.О. Luzhevsky , V. F. Lubentsov , Е.V. Lubentsova

  2026-02-27

  Abstract ▼

  A methodology for analyzing a robust automatic control system for linear dynamic control objects with a delay in the uncertainty of information about the parameters of the mathematical model and interference in the measured signals is described. The system implements a widely used PID controller and a dynamic compensator (DC) for the inertial part of the control object, implemented using estimates of state variables obtained on the basis of a state observer (SO). It is noted that any stability criterion can be used for the asymptotic stability of the controller and observer, but to ensure the maximum degree of stability and the required quality indicators of the transient process, it is convenient to use the maximum degree of stability criterion. In this paper, instead of derivatives obtained by differentiation, it is proposed to use in the dynamic compensator of the inertia of the object estimates of the state variables of the object obtained with the help of a state observer. Another difference from the known ones is the use of sigmoid functions in the corrective feedback of the state observer and the implementation of an additional effect to the main one based on the estimation error, compensating for external disturbance at the input of the object. The parametric synthesis of a state observer was used to study the impact of disturbances and noise on the performance of an automated control system (ACS) for an industrial interval-defined plant with various parameters. A robust typical PID controller with optimal parameters for maximum stability was calculated, taking into account the compensation of the inertial part of the object. For this purpose, a dynamic compensator (DC) was implemented using the parameters of a nominal (calculated) model of the object with the worst combination of parameters obtained on the basis of the interval model of the control object with a delay. The conducted research has established that the structure of the ACS with a typical PID controller with a sequential dynamic compensator for the inertia of the object and a state observer with corrective feedback based on sigma functions ensures the simplicity of the ACS synthesis methodology that is robust to changes in the parameters of the object and the action of unmeasured disturbances and uncontrolled interference.

• CONTROL OF A MULTI-ROBOT SYSTEM BASED ON HIGHER-ORDER SLIDING MODES

  Nandanwar Anuj , L. А. Rybak , D. А. Dyakonov

  72-83

  2025-11-10

  Abstract ▼

  The article addresses the control problem of a second-order multi-agent robotic system with discrete time under network-induced delays. A novel approach to formation control is proposed, based on higher-order sliding mode control and cloud technologies. The interaction between agents is described using graph theory, where the Laplacian matrix  represents the communication channel between agents and the leader. The system dynamics are modeled by motion equations for the position and velocity of each agent. Special attention is paid to the impact of network-induced delays that occur during data transmission from sensors to the controller and from the controller to actuators. A multi-stage state predictor is developed, utilizing prediction methods to compensate for random delays in the network.
  The proposed control algorithm ensures rapid convergence of the system to the desired formation even in the presence of significant network delays. For each agent, a sliding surface and a reaching law are defined, taking into account multiple timestamps. A detailed stability analysis of the closed-loop system confirms the asymptotic stability of the developed control algorithm. Simulation results in MATLAB demonstrate the high efficiency of the proposed approach: a system consisting of five followers and one leader achieves the desired formation in 10.3 seconds and successfully maintains it despite random network delays. Compared to traditional first-order control methods, the new approach shows significantly improved performance, particularly in reducing chattering effects in control signals. The use of cloud technologies enables efficient real-time processing of large data volumes and implementation of complex prediction algorithms without overloading the local computational resources of the agents. The obtained results confirm the potential of the proposed approach for controlling multi-agent systems under real-world network constraints. The work also demonstrates the feasibility of using prediction methods to compensate for random packet losses and communication delays, ensuring reliable control and communication in dynamic, unpredictable scenarios

• OPTIMIZATION OF PID PARAMETERS OF SERVO SYSTEMS USING A GENETIC ALGORITHM AND A NEURAL NETWORK CLASSIFIER

  Ahmad Zoualfikar , Y.А. Kravchenko , А.М. Mansour

  237-250

  2025-10-01

  Abstract ▼

  Machine learning algorithms play a vital role in enhancing the performance of industrial systems, providing high precision and operational efficiency in real time. In servo motor control systems, these algorithms help reduce noise and vibration, improving efficiency and extending equipment lifespan. This article examines various types of noise that occur and their negative impact on industrial processes. The primary research objective is to optimize PID controller parameters in servo systems using a combined algorithm that combines neural networks and genetic algorithms. Unlike traditional methods such as genetic algorithms (GA) and particle swarm optimization (PSO), which suffer from slow convergence and risk of motor damage, the proposed solution is based on a control software platform. This platform ensures safe real-time interaction with the servo motor. A CAN Bus-based control system has been developed that enables developers to: read all servo motor parameters (speed, current, voltage, encoder position); modify PID coefficients with a single click, eliminating the need for manual tuning as in MOTO-MASTER. The implementation of the developed control system allowed the use of a trained neural classifier to constrain PID parameters within safe limits, reducing search space and accelerating the optimization process. Experimental results on SPH-S servo motors demonstrated significant reduction in noise and mechanical vibrations during real-time operation while maintaining stability across a wide speed range (0-1500 rpm).

• HYBRID APPROACH THE JOINT SOLUTION OF PLACEMENT AND TRACING PROBLEMS

  L.A. Gladkov , N. V. Gladkova , Dzhabbar Yasir Yasir Mukhanad

  2020-11-22

  Abstract ▼

  The article proposes an integrated approach to solving the problems of placing and tracing elements
  of circuits of electronic computing equipment. The approach is based on the joint solution of
  placement and tracing problems using fuzzy genetic methods. A description of the problem under
  consideration is given and a brief analysis of existing approaches to its solution is performed. The
  article discusses integrated approaches to solving optimization problems of computer-aided design of
  digital electronic computing equipment circuits. The urgency and importance of developing new
  effective methods for solving such problems is emphasized. It is noted that an important direction in
  the development of optimization methods is the development of hybrid methods and approaches that
  combine the advantages of various methods of computational intelligence. The article describes the
  following main points: the structure of the proposed algorithm and its main stages; modified genetic
  crossover operators; models for the formation of the current population are proposed; modified heuristics,
  operators and strategies for finding optimal solutions. The results of computational experiments
  are presented. The experiments carried out confirm the effectiveness of the proposed approach.
  In conclusion, a brief analysis of the results obtained is given.

• RESEARCH AND DESIGN OF THE COMBINED CCM MOLD LEVEL CONTROL SYSTEM

  O.S. Volueva

  2021-02-13

  Abstract ▼

  the ingot internal uniformity, which is mainly determined by the initial solidification processes.
  The imperfection of the casting process control at the initial section "ladle-tundish-mold", especially
  the mold level, leads to occurrence of internal nonuniformity and surface defects, as well
  as distortion of the slab shape. Thus, the level drop below setting value leads to inner surface oxidation
  of the formed ingot crust and its structural nonuniformity. If metal level increases, overflow
  over the ingot crust occurs, which leads to increase the oscillation traces depth and capture of
  non-metallic and slag inclusions. Therefore, the mold is the most important technological element
  of the continuous casting machine (CCM). The scientific and technical complexity of the mold
  level control problem is the lack of technical capability of the metal level measuring in real technological
  conditions with the required accuracy, as well as changes in the object parameters during
  operation and in non-stationary modes. The modernization of existing control systems through
  the introduction of new control algorithms is one of the ways to improve the efficiency of the metal
  level stabilization control in the continuous casting machine mold. It demands to single out the
  factors affecting the metal level stability in order to observe and compensate them. In this paper
  implementation of the combined control principle based on the main disturbances compensation
  and controlled coordinate feedback is proposed. The synthesis of static compensators with constant and variable compensation coefficients was carried out in accordance with the principle of
  invariance, which allows to significantly reduce the deviation of the controlled variable in nonstationary
  operating modes.

• SYNERGETIC SYNTHESIS OF AN ASTATIC CONTROLLER FOR THE “FLYING PLATFORM” CONTROL SYSTEM

  O. Y. Voronkov

  2021-08-11

  Abstract ▼

  The work is devoted to the synergetic synthesis of the astatic guaranteeing controller for the
  aircraft hierarchical control system. The paper contains the general description of “flying platform”
  type vertical take-off & landing aircraft & an integrator-based astatic guaranteeing controller.
  An astatic controller must ensure the asymptotic stability of a reserved system, the implementation
  of technological invariants, the estimation of immeasurable external influences from the
  current values of the measurable state-space variables, & the parry of piecewise constant external
  disturbances (for example, wind) that cause random changes in flight height, in pitch & in roll
  angles. The article also presents an extended mathematical model of the “flying platform” in the
  vertical movement mode under external piecewise constant disturbing influences, including disturbance
  estimation equations, & the upper hierarchy level control algorithms based on the given
  technological invariants are synthesized. In addition, the integrators’ equations are given; such
  must be included into the astatic controller & are related to the equations of disturbing influences
  estimates. In the framework of synergetic control theory, integrators don’t lead to worst stability
  of a closed-loop system because the method of aggregated controllers’ analytical design guarantees
  the dynamic system asymptotic stability. Finally, the results of computer simulation of the
  upper & the lower hierarchy levels’ nonlinear dynamics under disturbed motion with parry of
  external disturbances by astatic controller integrators are shown, as well as the results of computer
  simulation of the vehicle’s nonlinear dynamics under disturbed motion without this controller to
  allow a visual assessment of the controller’s performance by comparison. The relevance of the
  work consists in the necessity of “flying platform” type vertical take-off & landing aircraft creation
  to increase the effectiveness of people rescue operations in those disaster areas where helicopters
  & other modern means don’t cope with a task. The scientific novelty of the work consists
  in synergetic approach application to the design of the vehicle’s spatial position system equipped
  with an astatic guaranteeing controller to parry disturbing influences.