Synergetic Control of UAV on the Basis of Multi-Alternative Principles

Here is the description of a synergetic approach to the problem of synthesis of the multirotor unmanned aerial vehicle (UAV) regulator. The mathematical model of the vehicle was developed, describing the internal nonlinear communications between the coordinates of its state and external wind load. The adjustable values, defining a flight trajectory are: the course of the vehicle, the position of the center of masses and the velocity of the vehicle in a stable (motionless) system of coordinates. The operating influences are the draft force of air screws and the torque, created by them, relative to the axes of the system of the coordinates connected to the UAV hull. The analysis of the cause and effect interaction of physical variables in the resulting model gave a chance to utilize the solution, basing on the multilevel synergetic principles, the variety and division of functions, forming a so-called concept of multialternative formation. Several hierarchical levels are used for the decomposition of the regulator, all of them realize local tasks of a small dimensional control, whereas the corresponding expansion of the conditional space of the vehicle is realized by the introduction of the additional macrovariables, forming the required trajectory of the UAV's flight. The example of regulator synthesis for the four-screw UAV is given below and the results of operability test of the developed control system for the imitating model are presented.