In:
Science Bulletin of the Novosibirsk State Technical University, Novosibirsk State Technical University, , No. 2-3 ( 2020-11-13), p. 37-56
Abstract:
The UAV groups and other unmanned robots are more and more widely used to solve production and special problems in view of their bigger efficiency in comparison with single robots. The efficiency of a group in many respects is defined by the opportunities of the communications means between members of the group and its leader, which influences the efficiency of the decisions made. The control of the UAV group is often exercised by a multivariable control system whose algorithms are implemented by a computer complex of the group UAV leader. The problem here is that in individual channels of information exchanges between the UAV-leader and other UAVs of the group there is a time delay. Any space distributions of the UAV in the neighborhood of the leader cause significantly different, uncertain delays in channels of its contact with the UAV group that can lead to a loss of control stability. It is proposed to apply a multivariable, robust to delay control system to overcome this difficulty. The design of this system is carried out on the basis of the matrix decoupling control and the method of an analytical design of systems with control on output and impact (ADSCOI) taking into account conditions of feasibility of controls on digital computing elements. Analytical expressions including the solution to the linear system algebraic equations and the creation procedure of the digital control algorithms are found in the article. This control provides robustness of the system to delays in communication channels. The efficiency of the proposed approach is illustrated by a numerical design example of the multivariable group control system of the UAV. The results obtained can be applied to create digital control systems by both single input-single-output and multi-input-multi-output objects with an uncertain delay in agricultural, food, power, machine-building and other industries.
Type of Medium:
Online Resource
ISSN:
1814-1196
,
2658-3275
Uniform Title:
Управление группой БЛА при неопределенных запаздываниях в каналах связи
DOI:
10.17212/1814-1196-2020-2-3
DOI:
10.17212/1814-1196-2020-2-3-37-56
Language:
Unknown
Publisher:
Novosibirsk State Technical University
Publication Date:
2020
Permalink