Galaguz T. Structural - Parametric Synthesis of the Robust Flight Control System

The dissertation is devoted to the structural - parametrical design of the robust control systems for small UAV. The methodology of structural - parametrical design of robust control systems with use of the separation theorem consists of two stages: synthesis of the optimum law of control with use of Kalman filter and the optimum deterministic regulator at the first stage; robust optimization of the received optimal control law at the second stage was elaborated. The technique of simplification of obtained solution for the purpose of a possibility of its realization in the simple onboard computer is offered. For a case, when it is necessary to receive simpler control law it is developed scientifically proved mathematical procedure of synthesis of optimum control systems with use of the observer of the reduced order (Luenberger observer). The comparative investigation of control laws, using Kalman and Luenberger observers, was performed. Aforementioned synthesis procedure was applied for design of UAV autopilots with limited amount of the navigation sensors in presence of stochastic disturbances.