This article considers the principle of constructing mathematical models of functionally complex multidimensional multiloop continuous–discrete UAV stabilization systems. This is based on the proposal for constructing a mathematical model based on the class of the considered complexity of the stabilization system-multidimensionality, multi-rating, and elasticity. Multiloop (multidimensional) UAV stabilization systems are often characterized by the control of several interconnected state elements and the existence of several channels for the propagation of signals and mutual connections between individual objects. This is due to the need not only to take into account the numerous disturbing factors (for example, wind) acting on the control object as well as the need to use several points of application of control actions. Additionally, an important point is the possible separation of the mutual influence of the roll and yaw channels of the UAV on its synthesis and analysis. For this purpose, a mathematical model has been constructed using a description in the form of transfer functions, and therefore, in the form of structural diagrams. The principle of obtaining transfer functions is shown to demonstrate additional dynamic constraints introduced by elastic deformations into the stabilization loop through gyroscopic devices and accelerometers. This will make it possible to formulate a methodology for analyzing the influence of aeroelastic constraints on the stabilization loop, which will allow developing approaches to formulate requirements for the effective placement of gyroscopes and accelerometers on the UAV. The proposed approach allows creating a complete system of analysis and synthesis tools for complex multidimensional continuous–discrete UAV stabilization systems.

With the development of underwater technology, it is important to develop a wide range of autonomous and remotely operated underwater vehicles for various tasks. Depending on the problem that needs to be solved, vehicles will have different designs and dimensions, while the issues surrounding reduced costs and increasing the functionality of vehicles are relevant. This article discusses the development of inspection class experimental remotely operated vehicles (ROVs) for performing coastal underwater inspection operations, with a smaller number of thrusters, but having the same functional capabilities in terms of controllability (as vehicles with traditionally-shaped layouts). The proposed design provides controllability of the vehicle in six degrees of freedom, using six thrusters. In classical design vehicles, such controllability is usually achieved using eight thrusters. The proposed design of the ROV is described; the mathematical model, the results of modeling, and experimental tests of the developed ROVs are shown.

The problem of feedback linearizing control design based on canonical similarity transformation is considered. The idea of proposed method consists in representing the original nonlinear system into a state-dependent coefficient form and applying the canonical similarity transformation to this system. The application of the proposed approach is illustrated through examples.

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The paper examines a collisions detection and avoidance problem for two cooperative robot manipulators. The proposed collision detection method is based on the division of workspace into small discrete volume spaces. Each of the discrete volumes have the status “occupied” or “free”. The control system generates restriction signals when the motion along the calculated path will bring the manipulator into occupied volume spaces. A step-by-step algorithm of the collision detection system is given.