MOVING OBJECT CONTROL DEVICE Russian patent published in 2014 - IPC G05D1/00 G05B19/19 B25J13/08 

FIELD: physics, control.

SUBSTANCE: invention relates to control systems and can be used at development of the systems of control of moving objects providing their travel along the preset trajectory at a preset speed in uncertain mediums. The moving object control unit contains the trajectory scheduler, three evaluators of matrix coefficients, control signal evaluator, two matrix transposition units, information sensor unit, sensor support unit, unit for creation of vector of nonlinear elements, unit for creation of matrix of control coefficients, unit for creation of the matrix - derivative of the column vector of external velocities by the row-vector of internal coordinates, unit for creation of the matrix - derivative of the column vector of external velocities by the row-vector of world coordinates, unit of creation of the vector of external velocities, threshold device, device for measuring of the range of variation of angle of sight of an obstacle and distance to it, unit for calculation of the allowance of the control signal, summator, actuating device and mechanical system.

EFFECT: decrease of deviation of actual trajectory of the controlled object from preset one, and decrease of time for execution of preset trajectory.

5 dwg