Dynamics Characteristics Optimization for the UAV Ensemble of Motions

Sergey Zavadskiy, Timur Lepikhin

Результат исследований: Публикации в книгах, отчётах, сборниках, трудах конференцийстатья в сборнике материалов конференциинаучнаярецензирование

Аннотация

The tasks of multicopters control are considered as an area for application of modern theoretical approaches to the control system design. The paper considers the multicopter control system, which includes a subsystem of equilibrium stabilization and an executive subsystem. The executive system is responsible for changing the position of the apparatus in space according to the commands of the operator. The program list of control commands and a wide range of perturbations affecting the multicopter are forming a whole ensemble of movements of the UAV. The equations of the control system expand the vector of states of the multicopter. The coefficients in the control regulator are adjusted to provide the desired dynamics characteristics of the ensemble of movements. The novelty of this approach is that the problem of simultaneous optimization of the executive and stabilizing subsystems has been presented. Ensemble of program and perturbed motions of the multicopter is described by guarantee upper estimations. The results of practical calculations for a particular UAV are presented. The simulation demonstrates the ensemble dynamics before and after optimization. Transient diagrams show an optimized response to the operator’s control commands. The analytical part of the work was carried out for a multicopter with an arbitrary even number of screws more than three.
Язык оригиналаанглийский
Название основной публикацииConvergent Cognitive Information Technologies - 3rd International Conference, Convergent 2018, Revised Selected Papers
Подзаголовок основной публикацииThird International Conference, Convergent 2018
РедакторыVladimir Sukhomlin, Elena Zubareva
ИздательSpringer Nature
Страницы175-186
Число страниц12
ISBN (электронное издание)9783030374365
ISBN (печатное издание)9783030374358
DOI
СостояниеОпубликовано - 1 фев 2020
Событие3rd International Scientific Conference on Convergent Cognitive Information Technologies, Convergent 2018 - Moscow, Российская Федерация
Продолжительность: 29 ноя 20182 дек 2018

Серия публикаций

НазваниеCommunications in Computer and Information Science
ИздательSpringer
Том1140
ISSN (печатное издание)1865-0929

конференция

конференция3rd International Scientific Conference on Convergent Cognitive Information Technologies, Convergent 2018
СтранаРоссийская Федерация
ГородMoscow
Период29/11/182/12/18

Предметные области Scopus

  • Компьютерные науки (все)
  • Математика (все)

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    Zavadskiy, S., & Lepikhin, T. (2020). Dynamics Characteristics Optimization for the UAV Ensemble of Motions. В V. Sukhomlin, & E. Zubareva (Ред.), Convergent Cognitive Information Technologies - 3rd International Conference, Convergent 2018, Revised Selected Papers: Third International Conference, Convergent 2018 (стр. 175-186). (Communications in Computer and Information Science; Том 1140). Springer Nature. https://doi.org/10.1007/978-3-030-37436-5_16