Article

Article title SYNERGISTIC APPROACH TO THE CONTROL OF UNMANNED AERIAL VEHICLE
Authors G.E. Veselov, A.A. Sclyarov, S.A. Sclyarov
Section SECTION II. MATHEMATICAL MODELS AND METHODS
Month, Year 05, 2013 @en
Index UDC 681.51
DOI
Abstract This paper explores the problem of synthesis of synergetic control of UAV movement. To solve this problem in article presents new approach to mobile robots control based on principals and methods of synergetic control theory. The task of the synergistic synthesis of spatial control system of mobile robot is considered with the analysis of mathematic model and specifics of quadrotor chassis movement. In the theory of synergetic control the set of criteria for the control system is usually expressed in the form of an appropriate system of invariants. Invariants play the role of control objectives, they enforced a given technological problem, and the synergetic synthesis procedure reduces to process of finding control laws, which these given invariants are satisfied. At this paper as imposed condition on synthesized control law, serve an asymptotically stable motion of the robot to a given point and constancy of platform orientation.

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Keywords Mobile robot; quadrocopter; UAV; invariants; positioning control; synergetic control theory.
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