METHOD OF CONTROLLING MOVEMENT OF DYNAMIC OBJECT ALONG SPATIAL TRAJECTORY Russian patent published in 2024 - IPC G05D3/00 

FIELD: automatic control of dynamic objects.

SUBSTANCE: invention can be used to create systems for automatic control of movement of a dynamic object, providing its movement along the required trajectory or to the specified point along the required trajectory without presentation of requirements to the trajectory speed. In the control method, coordinates of the control object are constantly determined, change is monitored, and determining the integrity of the data on the determined coordinates of the control object, based on the control effect on the control object, using its model, the coordinates of the control object are calculated, the control action is generated by the difference of coordinates specified by the required trajectory of movement, and coordinates calculated from the object model. In the process of control, the model of the control object is adjusted so that, with integrity of data on certain coordinates of the control object, the difference between the determined and calculated coordinates of the control object is minimized, for which, with the integrity of the data on the determined coordinates of the control object, a tuning effect is sent to the model, which is generated by the difference between the coordinates of the control object determined and calculated by the model, and in case of erroneous data on certain coordinates of the control object, the tuning action is not supplied to the model.

EFFECT: high accuracy of moving a dynamic object along a required spatial trajectory.

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