Dynamics Characteristics Optimization for the UAV Ensemble of Motions

The tasks of multicopters control are considered as an area for application of modern theoretical approaches to the control system design. The paper considers the multicopter control system, which includes a subsystem of equilibrium stabilization and an executive subsystem. The executive system is responsible for changing the position of the apparatus in space according to the commands of the operator. The program list of control commands and a wide range of perturbations affecting the multicopter are forming a whole ensemble of movements of the UAV. The equations of the control system expand the vector of states of the multicopter. The coefficients in the control regulator are adjusted to provide the desired dynamics characteristics of the ensemble of movements. The novelty of this approach is that the problem of simultaneous optimization of the executive and stabilizing subsystems has been presented. Ensemble of program and perturbed motions of the multicopter is described by guarantee upper estimations. The results of practical calculations for a particular UAV are presented. The simulation demonstrates the ensemble dynamics before and after optimization. Transient diagrams show an optimized response to the operator’s control commands. The analytical part of the work was carried out for a multicopter with an arbitrary even number of screws more than three.