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Information × Registration Number 0214U002715, 0113U003661 , R & D reports Title Coordinated group distributed motion control popup.stage_title Head Kuntsevich Vsevolod Mykhailovich, Registration Date 27-01-2014 Organization Space Research Institute popup.description2 The purpose of the research - development a hierarchical motion control system for the group of robots in quasihomogeneous enviroment; formulation the problem of identification for multidimensional SISO systems under conditions of bounded uncertainty, development the method for it solving on the basis of the frequency characteristics. Results obtained: 1. Solution of the problem reconfiguring the group of robots from one structure to another has been retrieved. The problem of forming a group of robots in a given set of ordered structure from the initial set of random arrangement of elements has been defined and solved. The problem of managing two conflicting groups of controlled mobile robots has been formulated. 2. The problem of identification for multidimensional SISO systems under conditions of bounded uncertainty has been defined. The requirements to solution has been formulated. Based on the frequency system identification method, more general approach to the process of mathematic modeling has been developed. The impact of computational errors on results of identification has been researched and limitation of applicability has been demonstrated. It has been revealed, that for model stability, the complexity (dimensionality) of model has to be concerted with the level of uncertainty. Via computer simulations with randomizations, a conceptual partition of space by model stability has been performed. The algorithm of structural identification, which guarantee solution stability, has been proposed. Product Description popup.authors Бабій Н.А. Волосов В.В. Губарев В.Ф. Кравченко А.В. Кунцевич В.М. Мельничук С.В. Царук Н.П. Шевченко В.М. popup.nrat_date 2020-04-02 Close