Development of control algorithms for mechatronic and robotic systems under conditions of incomplete information about the parameters of the object and operational environment

In the scope of research a full cycle of works, including theoretical study and experimental testing of the results obtained on real prototypes of robotic and mechatronic systems has been conducted.

Analysis of the known analogues proves that the results correspond to the world best practices and have several advantages.

Due to the adaptive properties of the developed algorithms they allow to reduce the cost and expedite the process of setting up management systems for different types of robots and mechatronic systems. The advantage of this algorithm lies in  computational simplicity and the ability to work with a minimal amount of feedback signals, which will improve  important parameters of the robotic system such as autonomy and dimensions and weight, due to minimizing the number of sensors and controllers and usage of low performance controllers  with small power consumption.

Based  on the results of research the following results have been achieved:
  an algorithm for motion control of mobile robots with differential drive along the unknown, but detectable trajectory with given inaccurate electromechanical parameters;
algorithm of coordinated trajectory control of mobile robots in a pair of "master-slave" within dynamic environment;
Methodology for experimental studies of modern management methods using manipulative robotic systems;
program for adaptive robust stabilization of walking mechanisms leaving the trajectory with the usage od cascade scheme.

A special  focus has been made on  design constraints, often neglected in a theoretical study but existing in the real technical systems, in particular on a control level applied by the actuators, the sensor equipment and the bandwidth of communication channels, embedded computing power systems and the capacity of autonomous power sources.