METHODOLOGY OF THE FLYING OBJECT CONTROL BASED ON SECOND-ORDER DELTA TRANSFORMATIONS AND PRINCIPLES OF THE INVERTED PENDULUM CART CONTROL

摘要

The usage of the analyzing methodology allows the implementation of the following possibilities in the extremal phases of flight trajectory of unmanned aerial vehicle (AV) that are execution of time-optimized transitional processes with high-precision reaching of the nominal trajectory under the static instability and perturbation conditions; provision of the emergency motion under maximum allowable overloads and, therefore, attaining the extremely high dynamic characteristics; control algorithm robustness and simplifying requirements on the detailed analytical description of the A V model. The solution of AV control algorithm synthesis problems is based on the second-order optimized delta transformations theory and implementing of the inverted pendulum cart control principles. At the same time with the help of a single control action we realize the angle- of- attack (slip) and the AV mass center defining. In the paper the principles of basic control algorithms elaboration are set forth and the results of the model experiments are shown.