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In this paper, a new approach for synthesis of system of accommodation to faults of navigation sensors of underwater vehicles (UV) is developed and investigated. Proposed system is synthesized by using kinematic model of UV and data fusion of sensors signals. The advantage of this approach is that it allows detecting and isolating faults in sensors of UV and operatively to compensate their effects...
The problem of fault isolation and fault estimation in electric servoactuator of manipulation robots to achieve fault accommodation is considered. A bank of diagnostic observers is used to provide the fault isolation and fault estimation processes. So-called logic-dynamic approach is suggested to solve this problem. The advantage of this approach is that it allows considering the systems with non-smooth...
This paper describes the method of semiautomatic combined telecontrol by multi-link manipulator using special setting device (SD). For the survey of working space the mobile television camera is used. Optical axis of this camera can change spatial orientation during performance of operations. The algorithm of work of computing system which forms the setting signals for drives of all degrees of freedom...
The application of systems with reference model self-adjustment and control signal saturation in a task of second-order dynamic object with uncertain or varied parameters is considered in this paper. The features of system behaviour at different values of the control object and model coefficients are analyzed. The condition of a self-adjustment process stability are formulated containing the system...
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