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The Design of Optimal Lateral Motion Control of an UAV Using the Linear-Quadratic Optimization Method in the Complex Domain

Vadim Kramar(1*), Vasiliy Alchakov(2), Aleksey Kabanov(3), Sergey Dudnikov(4), Aleksandr Dmitriev(5)

(1) Sevastopol State University, Russian Federation
(2) Sevastopol State University, Russian Federation
(3) Sevastopol State University, Russian Federation
(4) Sevastopol State University, Russian Federation
(5) Nakhimov Black Sea Higher Naval School, Russian Federation
(*) Corresponding author


DOI: https://doi.org/10.15866/irease.v13i6.19130

Abstract


The purpose of the paper is to investigate the approach to the Unmanned Aerial Vehicle (UAV) control system synthesis, based on linear-quadratic optimization methods. The paper considers the challenges of developing an optimal control system for UAV “dry” landing (without landing on a sea surface) on a non-aircraft carrier vessel. The purpose of the control system is to guide the UAV to the centerline of the landing strip. To achieve it, lateral movement commands are sent separately through the yaw control loop. In this case, the decoupling of the roll and yaw control loops is obtained as a result of structuring the control system. In this paper the structuring is carried out by transforming the structural diagrams of the UAV control system where the initial motion model of the UAV is non-linear. As a result, the linearization of this non-linear model is performed first. Then, the linearized model is represented in the complex domain in the form of a structural diagram with the corresponding transfer functions. The design of optimal lateral motion control of the UAV is carried out by using the linear-quadratic optimization method in the complex domain. Optimization is carried out separately for the yaw control loop (inner loop) and the lateral movement control loop (outer loop). A quadratic criterion in the form of restrictions on the control energy is used as an optimization criterion. The authors provide examples of system modeling in the article.
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Keywords


Optimal Control; System Structuring; Transfer Function; Unmanned Aerial Vehicle

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