### ACTUAL PROBLEMS OF AVIONICS

CONSTRUCTION PRINCIPLES OF FLIGHT NAVIGATION SYSTEMS ON THE BASE OF INTEGRATED MODULAR AVIONICS
Grigoriev Valeriy V., Dmitry Kozis, Коровьяков А. Н.

7

Development of civil airplane on-board radio-electronic equipment is discussed. Principles of construction of piloting and navigating systems based on integrated modular avionics are formulated.

COMBINED NAVIGATION OF A FLYING VEHICLE GROUP
Leonid V. Andreev, Sergey V. Bogoslovsky, Boris Vidin, Zharinov Igor Olegovich, Zharinov Oleg O, Paramonov Pavel P, Ruben Shek-Iovsepjantz

12

Principles of flight of a group of flying vehicles are considered. Formulas of relative movement for combined navigation are derived.

STUDY OF SPATIAL TRACKING SYSTEM WITH PERIODIC COEFFICIENTS
Grigoriev Valeriy V., Olga K. Mansurova, Marina M. Motylkova, Yevgeniy Rabysh, Valentine Yu. Ryukhin, Nikolay Cherevko

16

For linear discrete system with periodically varying coefficients a procedure of regulator synthesis is developed. The proposed procedure is based on modular management method and is reduced to solution of a system of matrix equations of Silvestre type. The results are applied to the problem of synthesis of proportional regulator for a spatial tracking system; analysis of transient behavior is performed for typical operation modes of the system.

ON OBSERVATION VECTOR FORMALIZATION FOR MEASURING SYSTEM OF UNMANNED FLYING VEHICLE
Leonid V. Andreev, Sergey V. Bogoslovsky, Boris Vidin, Zharinov Igor Olegovich, Zharinov Oleg O, Paramonov Pavel P, Yury Sabo

23

Structure analysis of a measuring system of unmanned flying vehicle is carried out. The vector of measured data is formalized.

### CONTROL OVER TECHNICAL SYSTEMS

OBSERVER SYNTHESIS IN THE PRESENCE OF DISTURBANCES IN OUTPUT VARIABLE MEASUREMENT PROCESS
Aranovskiy Stanislav V., Vladimir M. Bardov, Bobtsov Alexey A., Kapitonov Alexander A, Pyrkin Anton Alexandrovich

28

A new approach to synthesis of dynamic observer of a linear object is proposed for the case when available measurements of the output variable include unknown additional sinusoidal disturbance.

APPLICATION OF LINEAR VERSION OF SERIAL COMPENSATOR METHOD FOR STABILIZATION OF SYSTEM WITH POWER STATIC NONLINEARITIES
Bobtsov Alexey A., Nikolaev Nikolay A.

33

The problem of stabilization of nonlinear system subject to limited external disturbance is analyzed. Application of liner version of serial compensator is considered in the case when only output variable and control signal may be measured, and the nonlinearities are static and power-limited.

ESTIMATION OF CONTROL COSTS IN THE PROBLEM OF ENSURING OF REQUIRED MODE STRUCTURE AND ROBUSTNESS
Dmitriy Biryukov, Slita Olga V., Ushakov Anatoly Vladimirovich

38

The problem of synthesis of robust continuous system with assigned mode structure is discussed. The proposed approach is based on fixing of required transient time and choice of mode structure in such a way as to minimize control costs. Algorithm of the synthesis with the use of control costs gramian is presented.

MODAL CONTROL OVER DYNAMIC SINGLE-CHANNEL OBJECT UNDER A COMPLEX EXTERNAL STOCHASTIC INFLUENCE
Ushakov Anatoly Vladimirovich, Artyom Tsventarny

43

The problem of synthesis of modal control over continuous object of the type of “single input—output” in the conditions of complex external stochastic influence is considered. The proposed solution is based on the concept of vektor-matrix similarity of projected system to generated polynomial dynamic modal model

### APPLIED PROBLEMS OF CONTROL

CONTROL OVER TRAJECTORY MOTION OF MULTICHANNEL DYNAMIC SYSTEM
Bushuev Alexander B., Sergey N. Morozov, Chepinsky Sergey A

50

The problem of synthesis of trajectory motion control algorithm for multichannel object relative to output variables space smooth curves is solved on the base of coordinates transformation method and dynamic properties of a surface mobile basis. Examples are presented of motion along typical flat trajectories (straight line and circle).

GENERATION OF STIMULI PROVIDING MOTION OF TWO-LEGGED WALKING ROBOT IN SAGITTAL PLANE
Yuri Kotelnikov

56

The problem of synthesis of comfort movement of two-legged walking robot is analyzed on the base of assignment of programmed trajectories for pelvis and foots in Cartesian coordinates. An analytical approach based on inverse kinematic problem is proposed for generation of input signals fed to executive mechanism drives.

CONSTRUCTION OF REAL-VALUED CRITERION MATRIX FOR SINGLE-CHANNEL SYSTEM
Dudarenko Natalya Alexandrovna, Maya V. Polyakova, Ushakov Anatoly Vladimirovich

62

The problem of control over degeneration of dynamic system of the type of “multidimensional input— multidimensional output” is considered. The proposed approach is based on design of a toolkit for analysis of degeneracy of criterion matrix constructed for the system.

DEGENERACY OF INDUSTRIAL SYSTEM CAUSED BY ANTHROPOGENIC FATIGUE OF ITS COMPONENTS
Dudarenko Natalya Alexandrovna, Maya V. Polyakova, Ushakov Anatoly Vladimirovich

66

The problem of degeneracy of industrial dynamic system caused by anthropogenic fatigue of the system components. The proposed solution to the problem is based on construction and analysis of criterion matrix for the dynamic system of the type of “multidimensional input—multidimensional output”.

### INFORMATICS IN TECHNICAL SYSTEMS

CONTROL OVER SINGLE-CHANNEL OBJECT WITH THE USE OF SERIAL BINARY COMMUNICATION LINK
Dudarenko Natalya Alexandrovna, Olga S. Nuya-Osiptseva, Ushakov Anatoly Vladimirovich, Maxim I. Filippov

72

Model approaches to the problem of digital remote control over technical objects of the type of “multidimensional input—multidimensional output” are considered. Perspective concepts and methods applicable to the problem are presented.

NOISE-IMMUNE DECODING OF SYSTEMATIC CODES
Ushakov Anatoly Vladimirovich, Elena S. Yaitskaya

77

Dependence of convergence rate of observation process on nilpotency index of dynamic observer matrix is determined. The problem of noise-immune decoding is addressed in the form of construction of dynamic observer of initial state vector.

### TECHNICAL MEANS OF CONTROL AND INFORMATICS

PIEZOELECTRIC DRIVE ON THE BASIS OF THIN-FILM PIEZOCERAMICS
Boikov Vladimir I. , Bystrov Sergey V., Grigoriev Valeriy V., Dmitry Obertov

84

The problem of mathematical modeling of piezoelectric drive on the basis of multilayered thin-film piezoceramics and experimental estimation of its fundamental characteristics are considered.

EXPERIMENTAL STUDY OF CHARACTERISTICS OF NEW-GENERATION PIEZOELECTRIC DRIVE
Boikov Vladimir I. , Bystrov Sergey V., Коровьяков А. Н., Igor P. Salmygin

87

Results of experimental determination of characteristics of piezoelectric drives based on thin-film lowvoltage piezoelectric actuators are presented. Estimations are carried out of potentially achievable values of technical characteristics of the drives for micro-movements of operated modules of precision devices. Problems of realization of high-precision and stable-working micro-movers are discussed.