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 Âûïóñê 69
- Kornoushenko E. Mass appraisal of multiparameter objects with range dependent variable
Statistical mass appraisal of objects is carried out by constructing various regression models and using iterative procedures to find the coefficients of these models. Practical application of such models can be fraught with certain difficulties (first of all, due to weak noise immunity of these models). In this paper, it is proposed in mass appraisal to move from a continuous dependent variable of regression model to a discrete one, which does not require finding the coefficients of the model and increases its noise immunity. Instead of iterative procedures, any classification algorithm can be used in this case. In comparison with the regression model, classification is a more convenient tool in practical applications, because various information processing mechanisms implemented in appropriate algorithms can be used. In connection with the unsatisfactory quality of the cadastral valuation of real estate conducted earlier in the Russian Federation, a course has been chosen by the Ministry of Economic Development to form and evaluate so called price zones. The value of the price range within the zone depends on the properties of the objects entering the zone. In this regard, the choice a discrete dependent variable in models can be practically used in the formation of price zones. In paper, we offer a simple classification algorithm for the formation of price zones. Application of the algorithm is shown by the practical example of a classification of apartments in various districts of Sochi.
- Konkina A. Stochastic Devis model whith multipoint initial-final value
The evolution of the free surface of the filtering fluid in a reservoir of limited power is modeled by the Davis equation with homogeneous Dirichlet conditions. Depending on the nature of the free term describing the internal source of the liquid, the model will be deterministic or stochastic. The deterministic model has been studied in various aspects by many researchers with different initial (initial-nal value conditions). The stochastic model is studied here. Several approaches to solving this problems are mentioned, differing y their understanding of the “white noise”. The definition of a solution is given, as well as definitions os the used stochastic processes. The solvability of the multipoint initial-finite problem for the stochastic Davis model is given in the article. The main result is the proof of the unique solvability of the evolutionary model with an additive white noise and a multipoint initial-final condition using linear algebra and spectral methods.
- Krasnov D., Utkin A. Synthesis of a multifunctional tracking system in conditions of uncertainty
Class of affine nonlinear single-input single-output systems, where the relative degree of the equivalent form of the input-output is invariant to the presence of external, unmatched disturbances, is formalized. Methods of synthesis of a multifunctional tracking system in the conditions of parametric uncertainty of the control plant model and incomplete measurements are designed for this class of systems. The original method of synthesis of a low dimension observer for estimating mixed variables (these are combinations of state variables, external influences and their derivatives) by measuring only tracking error is designed for information support of discontinuous control. In this observer, using the linear corrective effects with saturation, the method of separating the movements of observation errors is realized. As an illustration of the developed method, an electromechanical control object is considered – an inverted pendulum controlled by a DC motor. The simulation results for the worst case of varying parameters are given.
- Grebenuk G., Krygin A. Household energy consumption optimization based on forecast schedule maximum load of household appliances
The problem of optimization of household energy consumption by constructing an optimal schedule for the use of household appliances. The formulation of the task is specified, the set of all types of household appliances is divided into 4 groups: devices with thermostatic control, devices with a cyclic mode of operation, devices with the ability to interrupt and resume the cycle of work and instruments with the possibility performing one job at different time intervals with different power consumption. For each group, the requirements for functioning are formalized and mathematical models are constructed, describing these requirements for the operation of the instrument and a graph of its energy consumption. With the use of these models, an algorithm is developed for optimizing the operation schedules of devices and shows how to reduce this problem to the main integer programming problem, in which as the objective function is the total cost of electricity consumed. Particular attention is paid to the possibility of practical application of the obtained algorithm, simplicity and convenience of input of initial data.
- Nikitin D. Adaptive quaternion-based quadrotor control system
In this paper we propose the quaternion-based control system for quadrotor. Adaptive scheme for thrust coefficients identification, based on speed-gradient method, is designed. Proofs of stability are provided, as well the results of numerical simulations. In existing theoretical works, Euler angles are often used as coordinates for for describing quadrotor’s coordinates. Equations using those coordinates, however, have a singularity, which prevents their use near certain points. We use quaternions instead, which have no such restrictions. The process of discovering PID-regulator coefficients is known to be tedious, error-prone and specific for each quadcopter. We propose a control scheme in which most of the parameters are physical values, and the rest do not depend on the quadcopter and can be found once for the whole class of the flying machines. An identification algorithm for obtaining physical parameters is also described. MATLAB modelling is used to test and confirm the performance of the proposed scheme.
- Kazanin D. Mutual collision avoidance in the formation of the unmanned aerial vehicles
A group flight of hypothetical unmanned aerial vehicles is considered, during which mutual collisions are possible. A collision avoidance strategy is proposed during the group flight formation of these vehicles. This strategy is based on the method of artificial potential field. The method consists in that when a collision risk is detected between agents, control signals for the longitudinal, lateral channel and thrust channel are automatically generated in the control system of each agent and the control objects reach a safe distance relative to each other. Collision avoidance algorithms have been simulated. At the first stage, collision avoidance algorithms for each channel are simulated separately. Agents move at specified coordinates relative to the virtual leader. Then two UAVs are selected, the coordinates of which differ only on one channel, and one of the agents deviates towards the other. Then collision avoidance algorithms are simulated for all channels simultaneously. Three agents are considered, which move along given coordinates relative to the virtual leader, thus forming a system. Then the second and third agents deviate towards the first. Thus the risk of UAV collision arises. The simulation results demonstrate that these control algorithms prevent all possible collisions.
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