Nonlinear Adaptive Control of UAV Flight Under the Influence of Wind Disturbances

s─The article examines the problem of controlling the flight of an unmanned aerial vehicle (UAV) when exposed to external disturbances. A justification for the choice of a mathematical model of UAV movement, as well as a disturbance model, is given. To adequately describe the UAV flight, a mathematical model of the longitudinal movement of the aircraft in a trajectory coordinate system was chosen. Piecewise constant disturbances, which are the worst disturbances acting on the control object, are adopted as a model of external influences. A procedure for synthesizing an autopilot for controlling a UAV in a turbulent air environment is presented. For the synthesis, the synergetic method of analytical design of aggregated regulators - ADAR - was used. Two variants of adaptive control laws have been synthesized: an astatic controller that compensates for external unmeasured disturbances; as well as a dynamic controller with an asymptotic observer of external disturbance. In the course of modeling the resulting closed systems "control object - autopilot law" in the presence of external influence, the performance of both variants of regulators was shown.