Надежность и качество сложных систем (Dec 2022)
FAULT-TOLERANT CONTROL SYSTEMS FOR DYNAMIC SPECIAL-PURPOSE OBJECTS
Abstract
Background. The article is devoted to fault-tolerant control systems for dynamic objects of special purpose. Management of dynamic objects, such as unmanned transport systems, is carried out on the basis of navigation information. The most accurate are the systems of simultaneous localization and mapping, the inertial navigation system, and GLONASS is used as external measuring systems. The correction of the simultaneous localization and mapping system, as well as the inertial system, is carried out using external sources of information that can be distorted due to external influences (active interference). The relevance of the topic is determined by the problems of robot localization systems, as well as the effectiveness of the means and methods of computer and mathematical support for these systems. The importance is given to the methods of identification of mathematical models of dynamic systems for the correction of the system of localization of robots. Materials and methods. The article considers methods of survivability of navigation information during the functioning of a dynamic object in the conditions of failures as a result of occlusions and vibrations, as well as due to an increase in the level of other passive and active interference. The formal mathematical formulation of the problem of control synthesis is discussed. An adaptive method for correcting the navigation system based on a reference model is proposed, which can provide a margin of survivability of the control system. Results. The results of approbation of the proposed method on a real mobile robot are presented. Conclusions. The reference model used to correct the navigation system can also be used to build predictive control systems for dynamic objects. The proposed method is used in the control system of an unmanned vehicle for aggressive driving.
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