Synthesis of UAV Motion Control Algorithms along a Given Trajectory

Unmanned aerial vehicles (UAVs) are increasingly entering various spheres of human life. They are used in agriculture, to protect forests from fires, to ensure road safety, to monitor the condition of oil and gas pipelines, and so on. The scope of the UAV is constantly expanding. The range of tasks they solve becomes more complicated. This leads to the complication of the UAV as a control object (CO). Therefore, the control systems of such objects are also facing more and more serious problems, the requirements for accuracy and speed of their functioning are becoming more stringent. Thus, for the synthesis of UAV control algorithms, new approaches are required that will allow solving the problem in a fairly general form based on the mathematical model of the object, taking into account the natural physical properties of controlled processes. Such an approach is the synergetic approach in control theory. In this paper, we consider the procedure for the synergistic synthesis of UAV control algorithms when moving along a predetermined trajectory at a given speed. When modeling transient processes, the dynamic properties of the resulting closed system “UAV - autopilot” were investigated. It is shown that the synthesized control algorithms ensure the asymptotic stability of a closed nonlinear system in the entire admissible range of phase coordinates. The exact fulfillment of the goals of management has been demonstrated. In addition, the influence of external disturbances on the functioning of the closed system “UAV-autopilot” is considered.