Stabilization of autonomous program flight of uavs under conditions of parametric uncertainty

DOI: 10.31673/2412-4338.2024.046475

Abstract

The article is devoted to the development of a method for correcting feedback loops of a closed-loop dynamic system with parametric uncertainty, which provides stabilization of the UAV program movement with given indicators of the quality of transient processes. The synthesis of a robust controller is based on the concept of admissibility, which uses as an assessment the primary indicators of the quality of transient processes, such as transition time, dynamic and static accuracy, and others. The results of modeling the dynamics of UAV movement with parametric uncertainty showed that the transient processes in the stabilization system correspond to the given indicators of the quality of transient processes and are guaranteed to ensure the stability of the dynamics of UAV movement. In real conditions, the parameters of large aircrafttype UAVs and the disturbances acting on them may be known inaccurately or determined ambiguously. Information about parametric uncertainty may be limited only to the boundaries of the areas of parameter change, given, for example, by technical tolerances. In such conditions, one has to deal with a family of dynamic systems, the parameters of which can take on any values within the given limits. Thus, the problem of analyzing and ensuring the stability of systems with uncertainty occupies one of the central places in the theory and practice of control. The article is devoted to the development of a method for correcting feedback loops of a closed-loop dynamic system with parametric uncertainty, which provides stabilization of the UAV program movement with given indicators of the quality of transient processes. The synthesis of a robust controller is based on the concept of admissibility, which uses as an assessment the primary indicators of the quality of transient processes, such as transition time, dynamic and static accuracy, and others. The results of modeling the dynamics of UAV movement with parametric uncertainty showed that the transient processes in the stabilization system correspond to the given indicators of the quality of transient processes and are guaranteed to ensure the stability of the dynamics of UAV movement. Keywords: UAV, linearized model of movement dynamics, parametric uncertainty, method for correcting feedback loops, dynamic quality indicators, stability of UAV movement

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