METHOD OF ROBUSTLY STABLE MOTION CONTROL OF A GROUP OF MOBILE ROBOTS WITH A LEADER FOR MONITORING AND DIAGNOSTICS SYSTEMS AND ENSURING THE SAFETY OF THE POPULATION AND COASTAL INFRASTRUCTURE

The developing scientific foundations issue is relevant and topical today for the application of digital economy technologies for monitoring and forecasting hazardous processes and ensuring the safety of the population and coastal infrastructure. Especially it is topical to the implementation of the theoretical principles of monitoring for aquatic ecosystems which would include both classical, field observations and new technologies of contactless monitoring. The goal of this study is to solve this issue in terms of improving the characteristics of reliability and “openness” of systems. The authors of this article have developed the structure of a decentralized distributed system without hierarchical subordination as well as methods and algorithms for the functioning of a distributed network of sensors and a mobile robotic complex. MRC is the part of this system. MRC allows collecting data on the state of the environment by means of on-board sensor subsystems and collecting data accumulated by telecommunication isolated fragments of a distributed network of smart sensors in remote and hard-to-reach places using distributed computing and elements of fog computing. The effectiveness of the proposed model and method is achieved through the use of a control system, the multidimensional digital control device of which has a sufficiently high order. Algorithms of calculating the values of control actions are obtained by using decomposing control and the method of analytical synthesis of systems with output and action control. The robustness property to deviations of uncertain delays in the communication channels of each MR with the leader is achieved by using the properties of the proposed polynomial control equations. The proposed approach can be used to create digital control systems for both one-dimensional and multidimensional objects (multirobotic complex) which can be used to place sensors for monitoring and diagnostic systems in various fields of application.

monitoring and diagnostics, data mining technologies, mobile robots, multi-robotic complexes, decentralized decision support systems, blockchain