DEVELOPMENT OF A NONLINEAR ROBUST UAV CONTROL SYSTEM WITH FEEDBACK

Titov Dmitry Nikolaevich, Ryzhkova Elena Vladimirovna

UAVs are actively used in research, terrain monitoring and remote sensing of the earth. The electromechanical design of most UAVs is a low activity mechanical system. It has fewer control inputs than degrees of freedom. The developed design of UAV structures implies a focus on reducing the weight of the structure, which leads to difficulties in the field of control tasks. Unmanned aerial vehicles are focused on the use of classical control links, the article proposes to replace the classical model of the UAV control system with a robust one under conditions of multiple uncertainty. The principles of operation of the UAV control system are considered. A non-linear model of quadrocopter dynamics was created based on the use of indirect methods, it made it possible to reduce errors in the calculations of the control system based on classical methods, using the difference between the expected and actual output of the installation. By retaining the original model parameters, we were able to obtain the required level of tracking error. The proposed nonlinear robust feedback control system shows the inexpediency of using adaptive control methods. The control is based on the theory of LQR-synthesis of a robust controller, which ensures the robust stability of a quadcopter based on the proposed inertialess controller.

Keywords:remote monitoring, UAV, robust approach to UAV control, nonlinear robust feedback control system, LQR-synthesis controller