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Journal of Automation and Information Sciences
SJR: 0.232 SNIP: 0.464 CiteScore™: 0.27

ISSN Imprimer: 1064-2315
ISSN En ligne: 2163-9337

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Journal of Automation and Information Sciences

DOI: 10.1615/JAutomatInfScien.v51.i2.10
pages 1-10

Optimization of Processes of Robust Control of Quadcopter for Monitoring of Sea Waters

Victor L. Timchenko
Admiral Makarov National University of Shipbuilding, Nikolaev
Denis O. Lebedev
Admiral Makarov National University of Shipbuilding, Nikolaev

RÉSUMÉ

The synthesis of robust-optimal control system for the multidimensional nonlinear model of a quadcopter, based on optimization of motion trajectories, is proposed. Taking into account incomplete a priori information about the external environment, a robust control loop is synthesized based on measuring the output coordinates of a physical quadcopter with the additional use of the signals, generated by an optimal (reference) control system of variable structure. The given results of simulation demonstrate minimal values of control errors and energy expenses.

RÉFÉRENCES

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  2. Horowitz I., Survey of quantitative feedback theory (QFT), International Journal of Robust and Non-Linear Control, 2001, 11, No. 10, 887–921. DOI: 10.1002/rnc.637

  3. Altug E., Ostrowski J.P., Taylor C.J., Control of a quadrotor helicopter using dual camera visual feedback, The International Journal of Robotics Research, 2005, 24, No. 5, 329–341. DOI: 10.1177/ 0278364905053804

  4. Pyrkin A.A., Maltseva T.A., Labadin D.V., Surov M.O., Bobtsov A.A., Synthesis of quadcopters control systems using a simplified mathematical model, Izvestiya VUZov, Priborostroyenie, 2013, 56, No. 4, 47–51.

  5. Leira P.S., Johansen Т.А , Fossen T.I., Automatic detection, classification and tracking of objects in the ocean surface from UAVs using a thermal camera, Proceeding of Aerospace Conf., 2015, 1–10. DOI: 10.1109/AERO.2015.7119238

  6. Larin V.B., Tunik A.A., Synthesis of the quad-rotor flight control system, Proceeding of IEEE 4th International Conference “Methods and Systems of Navigation and Motion Control”, Ukraine, Kiev, 2016, 12–17. DOI: 10.1109/MSNMC.2016.7783095

  7. Andreev M.A., Miller В., Miller B.M., Stepanyan K.V., Path planning for unmanned aerial vehicle under complicated conditions and hazards, International Journal of Computer and Systems Sciences, 2012, 51, No. 2, 328–338. DOI: 10.1134/S1064230712010030

  8. Timchenko V.I., Ukhin O.A., Lebedev D.O., Optimization of nonlinear systems of variable structure for control of marine moving vehicles, Ibid., 2017, 49, No. 7, 33–47. DOI: 10.1615/JAutomatInfScien. v49.i7.30

  9. Timchenko V.L., Lebedev D.O., Kuklina K.A., Timchenko I.V., “Actual Problems of Unmanned Aerial Vehicles Development”, K., 2017, 192–196. DOI: 10.1109/ APUAVD.2017.8308807

  10. Timchenko V.L., Lebedev D.O., Optimization of stabilization processes of quadcopter for maritime traffic’s monitoring, Electronics and Control Systems, K., 2017, 3, No. 53, 32–38. DOI: 10.18372/ 1990-5548.53.12140


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