Analytical Synthesis of Control Acceleration of Unmanned Aerial Vehicle

. The problem of analytical synthesis of the control acceleration for an unmanned aerial vehicle (UAV) during its flight along a complex trajectory, consisting of sequentially located horizontal flight sections, located at different heights relative to the earth's surface has been solved in the paper. The problem has been solved as an analytical definition of the  optimal control of a linear non-stationary system for a specified minimized quality functional. The mathematical model  of the system is presented in the form of differential equations of UAV motion in the vertical plane of a fixed coordinate  system related to the earth's surface. A feature of the proposed methodology for solving the problem is the substantiation  of the original form of the minimized functional and parameters included in the law of variation of the control acceleration obtained by known methods. As the components of the quality functional, the values of coordinates and velocity of the UAV are considered and they are specified at the corresponding points in space through which the UAV path must pass, in order  to obtain the optimal curvature of the trajectory. The derived mathematical dependences make it possible to implement them on board of an aircraft and, ultimately, solve the problem of ensuring the minimum energy consumption when controlling  an object (UAV). Computer simulation of the analytically obtained results in the form of the UAV flight trajectory and  the processes of changing its acceleration and speed have shown the efficiency of the proposed technique and the prospects  of its use at the initial stage of the synthesis of the UAV control system.

1. Veremeenko K. K., Zheltov S. Yu., Kim N. V., Sebryakov G. G., Krasil'shchikov M. N. (2009) Modern Information Technologies in the Tasks of Navigation and Guidance of Unmanned Maneuverable Aerial Vehicles. Moscow, Fizmatlit Publ. 556 (in Russian).

2. Moiseev V. S. (2013) Applied Theory of Control of Unmanned Aerial Vehicles. Kazan, State Budgetary Institution “Republican Center of Education Qaulity Monitoring”. 768 (in Russian).

3. Krasovskii A. A. (ed.) (1987) Handbook on Automatic Control Theory. Moscow, Nauka Publ. 712 (in Russian).

4. Pupkov K. A., Egupov N. D., Barkin A. I., Zaitsev A. V., Kanushkin S. V., Komartsova L. G., Korlyakova M. O., Kornyushin Yu. P., Krasnoshchechenko V. I., Kurdyukov A. P., Maksimov A. V., Mel'nikov D. V., Myshlyaev Yu. I., Pilishkin V. N., Rybin V. M., Utrobin G. F., Faldin N. V., Filimonov N. B. (2004) Methods of Classical and Modern Theory of Automatic Control. Vol. 3. Synthesis of Regulators of Automatic Control Systems. Moscow, Publishing House of Bauman Moscow State Technical University. 616 (in Russian).

5. Dmitrievskii A. A., Lysenko L. N. (2005) External Ballistics. Moscow, Mashinostroenie Publ. 608 (in Russian).

6. Lobaty A. A., Al-Mashkhadani M. A. (2014) Interval Optimal Software Control of the Aircraft. Nauka i Technika = Science & Technique, (1), 25–29 (in Russian).

7. Lobaty A. A., Bumai A. Yu., Du Jun (2019) Formation of Optimal Parameters of the Trajectory of the Overflight of Unmanned Aerial Vehicle through Specified Points of Space. Doklady BGUIR, (7–8), 50–57. https://doi.org/ 10.35596/1729-7648-2019-126-8-50-57 (in Russian).

8. Bryson A., Yu-Chi Ho (1975) Applied Optimal Control Theory. CRC Press. 482.

9. Lobaty A. A., Antanevich A. A., Ikuas Yu. F. (2009) Analytical Synthesis of Control System of Unmanned Aerial Vehicle. Sbornik Statey Voennoy Akademii Respubliki Belarus [Collected Papers of the Military Academy of the Republic of Belarus], (17), 62–66 (in Russian).

10. Krasovskii A. A., Vavilov Yu. A., Suchkov A. I. (1986) Automatic Flight Control Systems. Moscow, Zhukovsky Air Force Engineering Academy. 477 (in Russian).