Reconfigurable control algorithms for stabilizing safe UAV movement

Unmanned aerial vehicles means a vehicle without a crew on board. Multirotor type aircraft are part of the UAV variety. To date, there are a huge number of implementations of aircraft, in view of the widespread development of technologies and the reduction in the cost of components that make up the UAV. The versatility of UAVs allows them to be used to solve a wide variety of tasks: geodetic surveys, drawing up cadastral plans, monitoring transport infrastructure, energy facilities and pipelines, determining the volume of mine workings and dumps, accounting for the movement of bulk cargo, creating maps and terrain plans, rescue, reconnaissance and military operations, forest fire detection, aerial photography, etc. The absence of a person on board makes it possible to remove restrictions on the use of UAVs in conditions dangerous to the life and health of the crew. Due to the active development of this technology, the use of UAVs in civilian and other tasks is constantly growing, which causes a natural need for the safe operation of UAVs. In particular, safe flight in normal operating modes and in critical operating modes. One of the ways to solve this problem is the use of specialized control algorithms. In this paper, we consider algorithms with a reconfigurable structure that allow you to enter such an operating mode when any disturbances from the outside are not perceived by the system within certain limits. The problem is to choose such a control algorithm where the output value of the plant would coincide with the reference value in some acceptable limits when external coordinate and parametric disturbances change. The relationship between the input and output of the object becomes ambiguous and indefinite, which greatly complicates the solution of the problem. The paper presents the implementation of PID and reconfigurable structure controllers in the MATLAB software package. The features of the quadcopter dynamics and the response of the control system to coordinate and parametric disturbances are taken into account at the stages of modeling. The object of study in this work is the height controller. As a result, graphs of the change in the current height relative to the specified height are given, thereby forming a control error, which is processed by the controller. The graphs show the control signals generated by various controllers. The analysis shows the immunity of controllers with a variable structural to various kinds of external disturbances. Indicators of the quality of management were calculated according to the second integral criterion. The authors declare no conflicts of interests.

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