s─The article examines the problem of controlling the flight of an unmanned aerial vehicle (UAV) when exposed to external disturbances. A justification for the choice of a mathematical model of UAV movement, as well as a disturbance model, is given. To adequately describe the UAV flight, a mathematical model of the longitudinal movement of the aircraft in a trajectory coordinate system was chosen. Piecewise constant disturbances, which are the worst disturbances acting on the control object, are adopted as a model of external influences. A procedure for synthesizing an autopilot for controlling a UAV in a turbulent air environment is presented. For the synthesis, the synergetic method of analytical design of aggregated regulators - ADAR - was used. Two variants of adaptive control laws have been synthesized: an astatic controller that compensates for external unmeasured disturbances; as well as a dynamic controller with an asymptotic observer of external disturbance. In the course of modeling the resulting closed systems “control object - autopilot law” in the presence of external influence, the performance of both variants of regulators was shown.
Nonlinear Adaptive Control of UAV Flight Under the Influence of Wind Disturbances
25.03.2024
730680 byte
Aufsatz (Konferenz)
Elektronische Ressource
Englisch
Nonlinear Adaptive Control with Persistent Disturbances
British Library Conference Proceedings | 2008
|Nonlinear Adaptive Control with Persistent Disturbances
AIAA | 2008
|