СИНЕРГЕТИЧЕСКИЙ СИНТЕЗ ЗАКОНА УПРАВЛЕНИЯ БПЛА В УСЛОВИЯХ ВЕТРОВЫХ ВОЗМУЩЕНИЙ С ВХОДНЫМИ ОГРАНИЧЕНИЯМИ

Abstract

This paper discusses the application of synergetic control theory (SCT) methods to the problem ofcontrol 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 nonlinearcontrol systems for fixed-wing UAVs, which guarantee the asymptotic stability of the closed-loop systemswhen moving along a given trajectory, stability and adaptability with significant nonlinearity ofmathematical 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 takeinto account constraints on the state variables of the control object, which can be determined by both theenergy efficiency requirements and safety systems, as well as other constraints and requirements imposedon these coordinates. This article proposes a procedure for the synthesis of nonlinear vector controlsystems for fixed-wing UAV by applying SCT approaches that provide invariance to external unmeasureddisturbances, fulfillment of specified technological control objectives, asymptotic stability ofthe 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 controlsystems of fixed-wing UAV ensures the effective use of this type of UAV in solving various tasks, includingthe operation of such UAV as elements of a group of autonomous objects that solve a given grouptechnological task. The effectiveness of the proposed approach to the synergetic synthesis of controlstrategies is confirmed by the results of computer modeling of the synthesized nonlinear vector controlsystem of fixed-wing UAV. The proposed synergetic method of control system synthesis for fixed-wingUAV can be applied for the development of advanced flight simulation and navigation complexes thatsimulate the UAV behavior in the presence of wind disturbances and serve as a basis for improving theflight performance of the fixed-wing UAV.