Controllability of Complex Dynamic Objects

International Conference on Information Technologies in Business and Industry 2016

计算机科学;经济学;工业技术

Kalach, G.G.^1 ; Kazachek, N.A.^1 ; Morozov, A.A.^1

Moscow Technological University (MIREA), 78, Vernadsky ave., Moscow

119454, Russia^1

关键词: Complex dynamics;    Degree of control;    Efficient control;    Integrated assessment;    Intelligent technology;    Quality characteristic;    Quality requirements;    Variable geometry;   

Others  :  https://iopscience.iop.org/article/10.1088/1742-6596/803/1/012061/pdf
DOI  :  10.1088/1742-6596/803/1/012061

来源: IOP

【 摘 要 】

Quality requirements for mobile robots intended for both specialized and everyday use are increasing in step with the complexity of the technological tasks assigned to the robots. Whether a mobile robot is for ground, aerial, or underwater use, the relevant quality characteristics can be summarized under the common concept of agility. This term denotes the object's (the robot)'s ability to react quickly to control actions (change speed and direction), turn in a limited area, etc. When using this approach in integrated assessment of the quality characteristics of an object with the control system, it seems more constructive to use the term "degree of control". This paper assesses the degree of control by an example of a mobile robot with the variable-geometry drive wheel axle. We show changes in the degree of control depending on the robot's configuration, and results illustrated by calculation data, computer and practical experiments. We describe the prospects of using intelligent technology for efficient control of objects with a high degree of controllability.