In this article proposes methods for synthesizing control algorithms to solve the problem of tracking the course of a surface vessel. The problem of maintaining the vessel's course was solved using various algorithms. The proposed algorithms can be used in the future to solve dynamic positioning problems and route control problem.

In this paper, an experimental study of robust trajectory control algorithms under incomplete information about the parameters and state variables of a nonlinear motion model of a mobile robot is carried out. In this study, we have synthesized and tested on a real holonomic mobile robot a set trajectory control algorithm with measured adjustable variables, set trajectory control algorithm in the absence of measurements of adjustable variables and measured robot coordinates. In addition, an algorithm for controlling the motion of a mobile robot along a given trajectory in the absence of measurements of adjustable variables and robot coordinates was tested.

The problem in this paper is addressed to output regulation of saturated plant. Anti-windup technique used to prevent overshooting and oscillatory processes in system with physical signal limitations. The robust output control framework was modified in order to take into account physical properties of the plant. Simulations show effectiveness of the proposed method in case of motor regulation in the presence of disturbances and non-static gain coefficient.

This paper presents the design and analysis of an omnidirectional reconfigurable wheeled robot capable of switching between omnidirectional and conventional wheeled mode. We have developed a new pneumatic locking mechanism of rollers for the mecanum wheel. In the mecanum mode, the robot can perform holonomic movements, and in the wheeled platform mode, it can overcome inclined surfaces and perform more energy-efficient movements. In addition, the locking device allows the robot to brake faster compared to other mecanum robots. Unlike other works describing the reconfigurable structure of the mecanum wheel, this work offers a new design characterized by the simplicity of the mechanism and does not require the location of active reconfiguration elements inside the wheel itself. The paper describes the design concept and presents the mechanism for locking rollers. The study evaluates the use of the developed robot in various scenarios, including movement on an inclined surface, sudden braking on a plane and an inclined surface, and also analyzes the energy efficiency of the resulting solution for some operating scenarios. The experiments carried out confirm that this mobile platform, when switching mode, is able to move on surfaces with a large angle of inclination and perform more effective deceleration on both flat and inclined surfaces.

In this paper experimental research on the output control problem of a surface vessel with parametric uncertainties and external disturbances is shown. We propose application of the robust control framework based on the extended observer design with subsequent augmenting with the internal model to reject external disturbances affected the robotic boat in laboratory basin. Dynamic Positioning (DP) mode includes task of a station-keeping which can can be effectively solved with proposed algorithm.

In this article dynamically positioned surface vessel model is considered. To achieve precise performance of the vessel with unknown parameters two control problem was solved. First one is online parametric identification. The estimation of unknown parameters of the surface vessel model is obtained by methods, which are gradient descent method, extended Kalman filter and dynamic regressor extension and mixing (DREM). Second problem is the design of the adaptive control based on the collected results from estimators. For this purposes inverse dynamics control is considered. The convergence of the system is shown in the modeling section. DREM estimation method showed best results.

The problem addressed in the paper is twofold. First, the estimation of unknown robot parameters is carried out using three different approaches, namely the gradient descent method, extended Kalman filter, and dynamic regressor extension and mixing, to evaluate their performance as applied to the two-link planar elbow robot arm. Second, an indirect adaptive inverse dynamics controller based on the obtained estimates is designed to study performance achieved by the estimation methods in the control problem. The obtained results show advantages of the dynamic regressor extension and mixing in the both addressed problems.

This paper focuses on the applied research on the output control problem of a surface vessel with parametric, signal, and structural uncertainties. The control framework based on the extended observer design is augmented with the internal model to reject exogenous inputs such as reference derivatives and external disturbances. Special attention in this study is given to the presence of unmodeled dynamics due to the vessel actuators.

A new path planning algorithm for industrial robots is proposed in this paper. The algorithm is based on arc approximation of the given reference path. Such solution allows to reduce amount of the reference points, decrease code size and computational costs, increase performance of operations and simplify programming complex movements. The study represents extension of the previous work to the case of planning spatial movements in three-dimensional space. Experiments using a 6-DOF (degrees of freedom) articulated robot simulating typical industrial operations (e.g. welding, engraving, polishing) were carried out and corresponding experimental results are reported in the paper.

This paper describes the design of a gripper device for handling heavy steel tubes with variable physical properties such as diameter, mass and length. This grasping device represents an alternative solution to expensive and sophisticated anthropomorphic grippers. This research is focused on hardware design and concept issues. The designed device for assistive robotic applications can represent a hardware component of an industrial cyber-physical system. Design of such tools is extremely relevant for modern industry and science. Research work, mechanical design and implementation steps are described in the paper in details. Testing procedures and corresponding illustrative results are also reported.

This paper is a result of the university-industry collaboration between ITMO University and Thermex. A subject of this cooperative investigation is robotic automation of industrial operations in the sense of organizing a cyber-physical system and reducing the human factor from the production. Tasks of a technological process considered in the paper are welding, transporting and polishing. They are simulated on the basis of the laboratory of the Department of Control Systems and Informatics. Robots used in this study are Mitsubishi MELFA RV-3SDB, KUKA youBot and Kawasaki FS06N. Three control levels are highlighted in the paper. There is the strategic level at the top. Its main part is a central control software based on MATLAB used to set up a network and coordinate robots between the operations. Control of a separate robot corresponds to the tactic level. Finally, the local level is assigned to control of actuators and get data from sensors.