SYNERGETIC SYNTHESIS OF CONTROL LAW FOR UAV IN THE PRESENCE OF WIND DISTURBANCES WITH INPUT CONSTRAINTS
Abstract
This paper discusses the application of synergetic control theory (SCT) methods to the problem of control system synthesis for fixed-wing unmanned aerial vehicle (UAV) in the presence of wind disturbances. The main purpose of this study is to develop a synergetic method for the synthesis of nonlinear control systems for fixed-wing UAVs, which guarantee the asymptotic stability of the closed-loop systems when moving along a given trajectory, stability and adaptability with significant nonlinearity of mathematical models for controlling fixed-wing UAVs in the presence of wind disturbances. Furthermore, an important task in the synthesis of control systems for various objects, including UAV, is to take into account constraints on the state variables of the control object, which can be determined by both the energy efficiency requirements and safety systems, as well as other constraints and requirements imposed on these coordinates. This article proposes a procedure for the synthesis of nonlinear vector control systems for fixed-wing UAV by applying SCT approaches that provide invariance to external unmeasured disturbances, fulfillment of specified technological control objectives, asymptotic stability of the closed-loop system, and also take into account the introduced constraints on the UAV internal coordinates. The procedure suggested in this article for the synergetic synthesis of nonlinear vector control systems of fixed-wing UAV ensures the effective use of this type of UAV in solving various tasks, including the operation of such UAV as elements of a group of autonomous objects that solve a given group technological task. The effectiveness of the proposed approach to the synergetic synthesis of control strategies is confirmed by the results of computer modeling of the synthesized nonlinear vector control system of fixed-wing UAV. The proposed synergetic method of control system synthesis for fixed-wing UAV can be applied for the development of advanced flight simulation and navigation complexes that simulate the UAV behavior in the presence of wind disturbances and serve as a basis for improving the flight performance of the fixed-wing UAV.
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