Soldatova M. Automation of the process of stabilization of the software movement of an unmanned aerial vehicle (UAV)

The work is devoted to the development of a specialized mathematical apparatus and algorithmic support for solving the problem of minimizing the UAV energy costs due to the optimal system for automatic stabilization of UAV programmatic motion. To solve this problem, a procedure for estimating the parameters of linear dynamic UAV models was developed, based on the joint use of the spline function and the Walsh function. An original method of converting one class of linear non-stationary UAV models into equivalent linear stationary models is proposed. On the basis of the proposed synthesis procedure, which uses the principle of minimum in combination with the mathematical apparatus of the Walsh functions, the problem of synthesis of open optimal fuel consumption laws of program stabilization of one class of non-stationary UAVs and for non-stationary UAVs with monotonous parameters in the case of the quadratic criterion the optimal laws of stabilization are synthesized in an analytical form convenient for their practical implementation. For the first time, the method of uncertain coefficients for the implementation of the modal synthesis procedure for linear dynamic systems is proposed, as well as the procedure for optimizing the stabilization processes of linear dynamic systems with parametric uncertainty based on modal synthesis and the principle of guaranteed dynamics, which enables the synthesis of robust stabilizer of programmatic movement of the UAV Optimal algorithms for stabilization of programmatic movement of the UAV implemented at AVIA Scientific Production Association (Kremenchuk) In addition, part of the methods was included into the program of students' training at the Department of Technical Cybernetics, Faculty of Informatics and Computer Technics National Technical University of Ukraine «Igor Sikorsky Kyiv Polytechnic Institute»