Problem of a mobile object positioning in the presence of determinate disturbances is considered in this paper. A mobile object is described by kinematics and dynamics equations of a solid body in three dimensional space. The control inputs of the mobile object are forces and torques. Design of adaptive control is based on position-path control method for mobile objects. In this article two algorithms of the adaptive position-path control are developed. The first algorithm is adaptive position-path control with integration component and a reference model. The second algorithm is adaptive position-path control with a reference model and an extended mobile robot model. Block diagram of the direct adaptive position-path control system with a reference model is suggested. Design procedures of the adaptive position-path control systems and stability analysis of the closed-loop systems are presented. Computer simulation results of the designed adaptive closed-loop systems with both constant and variable disturbances are presented. On base of the analysis and modeling results conclusions are provided.

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The possibility of irrigation with low-mineralized water, the peculiarities of salt accumulation in the soil under drip irrigation, and the use of this method to remove accumulated salts from the root zone of the soil are considered. Technologies to reduce negative effect of salt content in irrigation water, including those protected by patents of the Russian Federation are presented. Irrigation of weakly-mineralized water containing up to 3 g/ l salts is possible under certain restrictions it specific processing in installations, which reduce total salt content and provide balance in ionic composition, which eliminates salinization and the development of soil alkalinity. Without special preparation water with a salinity more than 0.7 g / l can be used only against the background of high natural drainage of the site or artificial drainage with percolative moisture regime. More effective method of mineralized water preparation to irrigation is membrane technology application for selective deionization more dangerous for plants.

Experimental data on the dynamics of the most important agrophysical indicators of soil fertility which were obtained against the background of various fertilizer systems and predecessors in the development of degraded reclaimed lands that were withdrawn from circulation are presented. It has been shown that the rate of formation of a macrostructure that is valuable in production (0.25-10 mm) strongly depends on the amount of organic matter entering the soil in the form of high doses of all types of organic fertilizers, green manure and crop-root residues, upon decomposition of which an active humus is formed, which, when interacting with calcium, impregnates and cements the soil lumps, transforming them into a water-insoluble form. The greatest positive influence on the structural coefficient is exerted by cultivation of barley according to the organic background with the introduction of manure (40 … 80 t / ha) or liquid runoff of livestock complexes (120 t / ha) in combination with sowing application 10 kg a.v. P2O5 and 30 kg a.m. nitrogen as a top dressing per 1 ha. It has been established that in order to improve agrophysical parameters when degraded lands are involved in agricultural production, along with the introduction of high doses of organic fertilizers, crops with a deeply penetrating, powerfully developed root system that can not only condense the arable and plow layers, reduce acidity should be sown soil, but also at the same time improve its structure.

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