Control of complex dynamic objects

UAV flight visualization

Mathematical models in Matlab

External view of the stand

Stand for the hardware-in-the-loop simulation of the UAV automatic control systems was created.

Purpose: development and adjustment of the UAV automatic control systems.

Tasks:

Building of the mathematical model of automatic control systems;
Development of the algorithms and programs for automatic control systems;
Modeling of the UAV behavior;
Visual modeling of the UAV flight;
Input of the flight mission;
Archiving and viewing of the telemetry data.

Capabilities:

Complex adjustment of the control algorithms;
Preparation of the flight mission;
Training simulator for pilot and engineer of the UAV.

To date, IAE SBRAS and JSC “NovosibNIAT” completed the first stage of the work:

flying experimental models were created;
training of the pilot and engineer of the UAVs on the modelling stand was completed;
ground and flight tests of the prospective UAV were completed.

Publications

S.G. Derishev, Yu.N. Zolotukhin, K.Yu. Kotov, A.A. Nesterov, M.A. Sobolev, N.P. Sohi, M.N. Filippov. On calculation of the orientation angles of the aircraft vertical takeoff and landing. (In Russian) // Proc. Proceedings of the XV International Conference "Problems of control and modeling in complex systems", (June 25-28, 2013, Samara, Russia). Samara: Samara Scientific Center of Russian Academy of Sciences, 2013. PP. 515-522.
Yu. N. Zolotukhin, A.A. Nesterov. Aircraft attitude control. // Optoelectronics, Instrumentation and Data Processing. Volume 51, Iss. 5, September 2015. PP 456-461.
S. A. Belokon, Yu. N. Zolotukhin, A. A. Nesterov. Aircraft path planning with the use of smooth trajectories. // Optoelectronics, Instrumentation and Data Processing. January 2017, Volume 53, Issue 1, pp 1–8.
S. A. Belokon, Yu. N. Zolotukhin, M. N. Filippov. Architecture of a platform for hardware-in-the-loop simulation of flying vehicle control systems. // Optoelectronics, Instrumentation and Data Processing. July 2017, Volume 53, Issue 4, pp 345–350.
S. A. Belokon, Yu. N. Zolotukhin, M. N. Filippov. Method of test signal design for estimating the aircraft aerodynamic parameters. // Optoelectronics, Instrumentation and Data Processing. July 2017, Volume 53, Issue 4, pp 358–363.
S. A. Belokon, Yu. N. Zolotukhin, M. N. Filippov. Fuzzy Clustering in Problems of Determining the Aerodynamic Characteristics and Modeling the Aircraft Dynamics. // Optoelectronics, Instrumentation and Data Processing. September 2018, Volume 54, Issue 5, pp 506–512.

Control of autonomous mobile vehicles formations

Mobile robot e-puck

Quadrocopter AR.Drone 2.0

Autonomous mobile robots

Bench tester

For the control of mobile vehicles in path following or trajectory tracking tasks an approach to forming of control parameters is proposed. It provides robustness and high quality of control.

A control scheme for mobile robot formation in the leader following mode is proposed. It enables to track the target and is based on using a sliding mode along the desired trajectory in the state space. The uniformity of the system structure is maintained for all members of the group that provides their replacement in case of a breakdown.

We have proposed an algorithm for control of an autonomous vehicle with one environment sensor. The algorithm ensures vehicle displacement toward the isoline and further movement along the isoline of a scalar field. It is based on using a local estimate of the scalar field gradient. An additional test signal used in the system enables the vehicle to calculate the total gradient value.

Publications

1. Yu.N. Zolotukhin, K.Yu. Kotov, A.A. Nesterov. Decentralized control of mobile robots in formation, Optoelectronics Instrumentation and Data Processing, Vol.43, Iss.3, pp.218, 2007.

2. Yu.N. Zolotukhin, K.Yu. Kotov, A.A. Nesterov. Autonomous vehicle control in planar movement along the target trajectory with obstacle avoidance. (In Russian) // Proceedings Of The IX International Conference ''Complex systems: control and modeling problems'', 22-28 june, 2007, pp. 213-219, Samara, Russia.

3. Yu.N. Zolotukhin, A. A. Nesterov, A.P. Yan. Identifying the parameters of a dynamic autonomous undersea vehicle — environment system, Optoelectronics Instrumentation and Data Processing, Vol.44, Iss.5, pp.450-453, 2008.

4. Yu.N. Zolotukhin, K.Yu. Kotov, A.A. Nesterov and A. P. Yan. Autonomous object planar movement control in investigating scalar fields, Optoelectronics Instrumentation and Data Processing, Vol.44, Iss.6, pp.562-566, 2008.

5. Yu.N. Zolotukhin, K.Yu. Kotov, A.A. Nesterov. Control of mobile vehicles formation in pursuit problem. (In Russian) // Proceedings Of The XI International Conference ''Complex systems: control and modeling problems'', 22-24 june, 2009, pp. 66-74, Samara, Russia.

6. Yu.N. Zolotukhin, A.A. Nesterov. Inverted pendulum control with allowance for energy dissipation, Optoelectronics Instrumentation and Data Processing, Vol.46, Iss.5, pp.401-407, 2010.

7. Konstantin Yu. Kotov, Yuri N. Zolotukhin, A.A. Nesterov. Formation Control and Trajectory Tracking of Mobile Robots. In: Proceedings of the IASTED Int. Conf. on Automation, Control, and Information Technology (ACIT 2010), June 15-18, 2010 in Novosibirsk, Russia. Acta Press Anaheim, Calgary, Zürich. pp. 26-30.

8. Yu.N. Zolotukhin, K.Yu. Kotov, A.S. Maltsev, A.A. Nesterov, M.N. Filippov and A.P. Yan. Correction of transportation lag in the mobile robot control system, Optoelectronics Instrumentation and Data Processing, Vol.47, Iss.2, pp.141-150, 2011.

9. Yu.N. Zolotukhin, K.Yu. Kotov, A.S. Maltsev and A.A. Nesterov and M.N. Filippov. Transport delay compensation in trajectory tracking control of mobile robots formation.(In Russian) // Proceedings Of The XIII International Conference ''Complex systems: control and modeling problems'', 15-17 june, 2011, pp. 223-229, Samara, Russia.

10. K.Yu. Kotov, A.S. Maltsev, M.A. Sobolev and M.N. Filippov. Combining odometry and visual system in position estimation for a mobile robot.(In Russian) // Proceedings Of The XIII International Conference ''Complex systems: control and modeling problems'', 15-17 june, 2011, pp. 230-236, Samara, Russia.

11. S.A. Belokon, Yu.N. Zolotukhin, A. A. Nesterov and M.N. Filippov. Quadrocopter control based on organization of a forced motion along the desired trajectory in the system state space. (In Russian) // Proceedings Of The XIII International Conference ''Complex systems: control and modeling problems'', 15-17 june, 2011, pp. 217-222, Samara, Russia.

12. Konstantin Yu. Kotov, Alexandr S. Maltsev, Maxim A. Sobolev. Recurrent neural network and extended Kalman filter in SLAM problem. In: Proceedings of the 2013 IFAC International Conference on Intelligent Control and Automation Science September 2-4, 2013, Chengdu, China. С. 197-200.

13. Yu. N. Zolotukhin, K. Yu. Kotov, A. S. Maltsev, A. A. Nesterov, M. A. Sobolev and M. N. Filippov. A Relative Measurement based Leader-follower Formation Control of Mobile Robots. In: Proceedings of the ICINCO 2015 12th International Conference on Informatics in Control, Automation and Robotics. Volume 2. 21-23 July, 2015. Colmar, Alsace, France. pp. 310-313.

14. Kotov K.Yu., Prishlyak E.E., Sobolev M.A., Maltsev A.S. Research complex for unmanned autonomous vehicles control systems // 2021 IEEE 15 th INTERNATIONAL CONFERENCE OF ACTUAL PROBLEMS OF ELECTRONIC INSTRUMENT ENGINEERING (APEIE), 19-21 November 2021, NSTU, Novosibirsk, Russia. C. 422-425.

Fuzzy control and modelling

Publications

1. E.P. Bakulin, V.D. Bobko, A.A. Nesterov, V.Ya. Pivkin, M.N. Filippov, A.P. Yan, Yu.N. Zolotukhin, M.A. Zolotukhina. Fuzzy technology based combustion process optimization. In: Proc. of the IASTED. Int. Conf. Automation, Control, and Information Technology, June 10-13, 2002, Novosibirsk, Russia, pp. 167-169.

2. V. Ya. Pivkin. Syntezing and Correcting Fuzzy Model Rules via Series of Experiments. In: Proc. of the IASTED. Int. Conf. Automation, Control, and Information Technology, June 10-13, 2002, Novosibirsk, Russia, pp. 164-166.

3. V.Ya. Pivkin. Fuzzy D-models: Localization of the Optimization Problem Solution in the Domain of Models. In: Proc. of the Second IASTED International Multi-Conference «Automation, Control, and Applications (ACIT-ACA)», June 20-24, 2005, Novosibirsk, Russia, pp. 454-458.

4. M.N. Filippov. Processing of incomplete data with the use of ternary logic, Optoelectronics Instrumentation and Data Processing, Vol.45, Iss.5, pp.481-486, 2009.

Supervisory control and decision making system

Structure of the system

The snapshots of the system's workstation

The principles of building of intelligent automated process control systems for high-risk locations are proposed.

The open modular multi-platform SCADA system supporting distributed reserving and designed for implementing multilevel software with increased reliability and security is developed.

The automated traffic control system designed under the modernization of the Novosibirsk subway is in continuous operation since 2005.

Publications

1. A.I. Abramov, S.A. Belokon’, R.R. Kogler, S.F. Markov, Yu.I. Micheev, V.M. Plotnikov, M.A. Sobolev, M.N. Filippov, V.V. Vasil’ev, A.P. Yan, Yu.N. Zolotukhin. Automated System of Supervisor Subway Traffic Control. In: Proc. of the Second IASTED International Multi-Conference «Automation, Control, and Applications (ACIT-ACA)», June 20-24, 2005, Novosibirsk, Russia, pp. 198-200.

2. M.N. Filippov. Processing of incomplete data with the use of ternary logic, Optoelectronics Instrumentation and Data Processing, Vol.45, Iss.5, pp.481-486, 2009.

3. S.A. Belokon, V.V. Vasilev, M.N. Filippov, A.P. Yan. Development and Testing of the Automated System of Supervisor Subway Traffic Control with the Use of the Relay-based Interlocking System Model. In: Proceedings of the IASTED Int. Conf. on Automation, Control, and Information Technology (ACIT 2010), June 15-18, 2010 in Novosibirsk, Russia. Acta Press Anaheim, Calgary, Zürich. pp. 241-244.

4. A.S. Maltsev, M.A. Sobolev, A.P. Yan. On the Question of Building an Open System of Automated Diagnostics for Novosibirsk Subway. In: Proceedings of the IASTED Int. Conf. on Automation, Control, and Information Technology (ACIT 2010), June 15-18, 2010 in Novosibirsk, Russia. Acta Press Anaheim, Calgary, Zürich. pp. 174-177.

5. Belokon' S.A., Filippov M.N., Vasil'ev V.V., Yan A.P., Zolotukhin Yu.N. Architecture of the Novosibirsk Subway Automated Traffic Control System. In: Proceedings of the 2013 IFAC International Conference on Intelligent Control and Automation Science September 2-4, 2013, Chengdu, China. С. 178-181.