Control system of unmanned aerial vehicle used for endurance autonomous monitoring

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1 WSES NSIONS o SYSES ONOL oo-o h, s Nco osttsc, h oto sst o vhc s o c tooos oto EODO - IOEL EL, D vst othc o chst o Sc c, St. Ghoh o, o., 6,Scto, chst, ONI too.ch@.o htt:wwww.-cs.o SILE NIOLE ONSNINES, D vst othc o chst, St. Ghoh o, o., 6, Scto, chst, ONI vco@hoo.co htt:wwww.-cs.o DIN EL oc D ojct Et SL, St. Dc., Scto 3, chst, ONI.ch988@.co stct: - h os s to st so scts th coto sst o vhc -, s to oc osvtos, svc oto tst. h ccs thooo ows c sto o voto toshc cotos s o o, s w s o o ot c co. h o whch w st hs s DO (s o o), tooos coto sst. hs thotc vot ows s to stt t, co t coto t to th stt o tooos ht. ost c sst, s o K t w vt o t cotos th sts w st. h ht ts c w. h s s to ojct SO (tooos oto Sst o Itst s o Gt Ec). K-Wos: -, Sto, oto, Gc, Ec, Svc, oto, K t NOENLE - ttck (tt to) - Ss (tt to) - o cto - Evto cto h c cto o th vto - cto - hst co: ψ - th θ - Icto φ - k ρ - st - o voct,,, E - It ots - oc cocts o oc th o - oc cocts o ot th o - hst cocts th o - hst ot cocts th o ρ S - c oc oc o - c oc co - c thst oc o -c co thst - c th ss,, - voct coots o th s o o ISSN: Iss 9, o 5, St

2 WSES NSIONS o SYSES ONOL oo-o h, s Nco osttsc, h S - c - hst vcto t - - oct vcto, v, w - Go voct coots o,, -oct coots Eth OX Y - No Eth- Z O o (o ) - oots Eth-. Itocto h s to vt th o sto o th ocs o wth o s s show., t toshc cotos. Ec coto h s w c o ss t th o vo oto (8 hos) o tst, o o th, o, th sso. h sjct och s t tst ot o th sctv o coc cv ctos, sch s stct oto, sch sc ssos, tc coto, t so t ctos. o chv ths ojctv, th hv stsh two jo sch ctos. h st cto sts s chv o th c to-, o t c, c o tsot t o co th ct, o coctos, t csto t ocss. h sco jo sch cto sthss ts th to s tot co sst o tck th t tjctos. It s tk to ccot th ttt o stct o th co sst whch w tst th ttv oths s o th c coto o th to. G ovt tos s show th s [] [3] th s c tos th ojcto tos o th oc, tht chv o th s tho, th ot tos, whch co o th ktc ot tho. I o to ot th c to w stt th oc cocts th o : X Y Z () L N. wh: ρ S o. () S, w th thst th o thst s c, w c thst coct: (3) h oc to c wtt o : v w (4) v w w v o (Eth) :, (5) wh th t s s th E s s: [ ], j, (6) wth: ψθ, s φs θψ s ψ φ, s φs ψ φs θψ,3 s ψ θ, ψφ s ψs θs φ, ISSN: Iss 9, o 5, St

3 WSES NSIONS o SYSES ONOL oo-o h, s Nco osttsc, h ψs φ s ψs θφ,3 s θ θs φ 3, 3, φθ. 3,3 h ot to o th ct o th ss o th, wtt th o s: ( ) E ( ) E( ), E ( ) (7) wh th vs t o th t ot s v : E ( E ). (8) E E h ktc tos to tos, whch ow s to ot th coots th t. I w s th coot o voct o w hv: [ ] [ ] v w. (9) Evt wth ths to, w s th voct coots w c wt: [ ] [ ]. () o E s wh th otto voct coots kow w hv: [ φ θ ψ ] W [ ], () wh s φt θ φ t θ W φ s φ. () s φscθ φscθ St, w hv ss to whch scs ss s octo th ht: s (3) wh s s scc to. 3 Gc co s [4], th c cos o ht stt o tvs ts ~ ~ ~ θ ψ φ h ~ whch v : ~ ~ θ θ ~ θ ψ ψ ψ φ φ φ λ λ λ h h h ~ D (4) wh φ D, θ ψ D (5) th t c vs. so w s t ts, s: I h I h I h. (6) h c cos thoh th cttos whch ot th [4] tos: k k τ τ τ τ k k τ τ τ τ (7) wh τ τ τ τ th t tts k k k k th tts. 4 c ovt h st o ht stt w cco to Lov tho, th sst o ovt tos t o th c ovt. hs vovs stc shot o th c ovt, whch w oc vto o th stt vs. Dvo ss th t ovt tos to to stts vs tk to ccot th st o ts o th tto, w w t tos whch c s to th stt th st oto, s w oc ost c o os. o t sc ovt ts tos () (3) s v w (8) thos: (9) v w w v ISSN: Iss 9, o 5, St

4 ) ( ) ( ) ( ) ( E E E () 5 L o o th tos o ot th o o tos w stt o th sso tw oc vs voct coots: [ ], () wh: [ ] w v s s t t to [8] oc s : ) ct( v, ) ct( w. () : w v ct (3) S, th to tw stto vs s: (4) wh: [ ] w v h oow ottos s o th so vocts oso oc ss: (5) wh s c th o th. S, o -stto coots w c wt:, (6) o o:, (7) wh: [ ] [ ], v w v w I ths cs, th sso o th oc oc :, o ρ ρ (8) wh: Z Y X WSES NSIONS o SYSES ONOL oo-o h, s Nco osttsc, h ISSN: Iss 9, o 5, St

5 S, o oc ot w c wt:, ρ ρ (9) wh: N L. os th tosh tw oc coots voct coots o- th oc oc : ρ ρ (3) S, o oc ot, w c wt: ρ ρ (3) thst, t c t o s oows:, (3) wh: Z Y X t t S, o thst ot w c wt: WSES NSIONS o SYSES ONOL oo-o h, s Nco osttsc, h ISSN: Iss 9, o 5, St

6 (33) wh: N L, w kow th sso o th coots o th vt o th o : (34) w ss th vto o th vt o o s: (35) wh: [ ] ψ θ φ ψ θ φ Stt o oc to (4) o, w ot:, (36) wh: [ ] Z Y X (37) s tto oc. S, o ot to (7) w c wt:, K (38) wh: E K [ ] N L (39) s tto ot. Stt o ths tos w c wt: G (4) wh: G ρ ρ Stt o ot to (3) w ot: (4) wh: K ρ ρ Stt o ctc to (9) w ot: (4) wh: [ ] ψ θ φ o to (): (43) wh: WSES NSIONS o SYSES ONOL oo-o h, s Nco osttsc, h ISSN: Iss 9, o 5, St

7 φ W W W ψ θ W s tos (4) (43) w c t th sst o: (44) wh: [ ] I [ ] I W c so hhht th stt coto ts s: h stt t wth stto vs G h stt t wth ostto vs 3 oto t, w ss th tto vcto: 4 h tto vcto 4. Et stt coto ts ss th oto tos o s ot ov, s s oth toshs to. o th, th ost ott whch c ot ct th ctto tos th c tos. o th tooos ht, s s cs o 's, th c to s css to toc tt ts scc to ID-t cotos. WSES NSIONS o SYSES ONOL oo-o h, s Nco osttsc, h ISSN: Iss 9, o 5, St

8 WSES NSIONS o SYSES ONOL oo-o h, s Nco osttsc, h Stt o (7) o o th ctto to c: [ ] D [ ] D (45) wh: τ τ D τ τ k τ k τ D, k τ k τ S, o o to (6) c: [ I I I ] [ ] (46) wh s c vs s t cto. s to (45 (46) w c t stt coto ts. 6 oto t t I 5 Ot coto s stt vcto D Sos to hv ccss to t stt vcto, w c ot ct th coto K o ot co: K (47) 5 Stt t t G I I o to sts th tc oc (t cto): ( Q ) t, (48) wh th t ( ), s coto th stt wht t Q s stc s ostv: Q Q Q. (49) I I wh th coto wht t s stc ostv: > (5) I ths cs, th oow to vs th ot coto K (5). wh th t s th soto o th c cct to: ISSN: Iss 9, o 5, St

9 WSES NSIONS o SYSES ONOL oo-o h, s Nco osttsc, h Q (5) 6 Ot coto s K t s th ot coto s ov s ccss to sst stts, v ct vw o th t o ssos. I ths cs, o cot scto o th sst w s stt stto tct s K t. o ths os w stt o th tos: Gw (53) D v wh w s th t os v s th t os toc th ssos, wh th ts G,, D t coct wth th stt t wth o-stto vs G [ I ] G [ I ] D [ I ] D, (54) h o stto oto s tht th v sst Σ : (,,, D) wth stt, c "ct" sst Σ : (,,, D) tht ss stt, whch s ccss ths cs to coto. I o tht th sst Σ oows th sst Σ w cct to L whch s th c tw ct stts stt stts s cocto to th sst Σ. I ths cs w c wt: Gw Σ : (55) D v L( ) Σ : (56) D wh t cotos toc, sctv. ck o, c th t cotos, s v : ~ ~ (57) I w cs Σ o Σ ct th os s ot: ~ ( L ) t h ~. (58) c L s so sch tht -L hv vs wth tv t, th stto o ts to o. Sc s ov th stto, w hv ccss to stts to k coto o th o: K (59) I ths cs th sst Σ s sc th to: K o ( K) K ~ o (6) whch hs th soto: ( K) t ( L) t h ( ~ hk ) (6) h ocss o cct th stto s s to tht sc ov o th ot to. hs s s o th sst: (6) o whch s oc : [ (GQG ) ] t (63) sov th t cct to: GQG (64) t stto s ot: L (65) wh s th soto o cct to. 7 It t, ccs oth sts 7. It t o th o 7.. Gotc t s t t w s th otc ts o th o.. ot ot ISSN: Iss 9, o 5, St

10 WSES NSIONS o SYSES ONOL oo-o h, s Nco osttsc, h c ot Gotc chctstcs o th o : c th o th:. 5 c s o : S chc t ss chctstcs o th o : 7k oso to t ss, w hv: t o ss osto: c. 3. It ots: k k 3k E.5k 7..3 oc t o th coto o, o ss o th o, tk to ccot th t o th ts, w ot th oow oo o o th oc cocts o : c3 c5 c6 c7 c , (66) wh th cocts, o ch. I o cs, o ow ssoc ow, th cocts, ctc tt, hv th oow vs: c c 5. c 6. 6 c3.54 c (67) 7..4 hst h o thst s t th to: (68) Wh s th o v t o, ot, s -c coct. sho t sts ct wok [9] w ot th oow ot to: ) ( ) ( ) (69) ( 3 wh th c o th ts w st: ch : tt : hst co : ( ) 3. (7) 5 ( ) 9. (7) ( ) (7) hst co s t tw:.5 < <. It s ovos tht o th voct ( ot ht) t o v wth co th thst tks th o v: 563[ ] N S, w c ot scc to, s to: ISSN: Iss 9, o 5, St

11 WSES NSIONS o SYSES ONOL oo-o h, s Nco osttsc, h s ) ( ) ( ), (73) s ( 3 wh th ch c s: (74) ( ) 966 tt c: hst co c: 6 ( ) 8. (75). (76) 3 ( ).3( ) h o scc t o v wth co, o wth hs th v: ht, oow sc hs. D th ht, t th sco t, t tts tt o. oss th tt o, ss th c co sst, o to t ht ts. c o ws s cco wth wok [5]. ht ts tc o svc ctvt: tt, voct 44 s. 7.4 sts I 3 w show th ht-th, th tst stto wh th ct th wth o ts.. 4 shows th voct th tst ht sc ov. Z 7.59 [ K N ]. (77) s s s scc to, w c vt t tht cocs wth ss vto, s w s th to (8). X Y 6..5 Gc ts o ht coto sst K t tos, w ot th oow c s: [K] [K] [K] oto K vs: k k.. k. 8 (78),, - Estto L vs: 4, (79),, 9, ht-th 7. cs oth h ccs oth sts t-st tho s' cto-cocto wth v st tto tho: [] []. sot c o ws.-, tv o ws.-. [s] cs tst cs W w s ccs tst th stto wh th tks-o, ks ct th wth o ts t voct tt t[s] 4 oct ISSN: Iss 9, o 5, St

12 WSES NSIONS o SYSES ONOL oo-o h, s Nco osttsc, h show th cto vto cto css to ot s tjcto φ [].5 [] t[s] 5 cto t[s] 7 k ψ [] 5 5 [] t[s] 6 Evto cto t[s] 8 th I s, ct ht th th o c osv th c o tc o o ht ts. 7 ocsos h cocsos stct two ots s th oow. I. 7 8 show th ttt s: k th, th ht. Gc sch: st cocso th sch sts th ct tht th w hv ost co stct, s o K t whch s c to th o s ht-th t toshc cotos. o th, vos st, o c osv tht th ht ts t th tc o c ck to th o vs. ISSN: Iss 9, o 5, St

13 WSES NSIONS o SYSES ONOL oo-o h, s Nco osttsc, h o ths ot o vw w st o votos tht w k sv stcts, whch w ct to ch k o votos. hs t o th co stct w to vov th s t wth th vot o th ojct, wh th t sts w v. chc soto: th ot soto, s s t hv two os th sh o th tt "" vt, st o vtc hoot t, w c ot tt stt t th s t tt coto wthot cs th cto ttch to st w. cs: [] khvov, N. thos Ns s,, tos ts os E. osco,976. [] N.. oc, Stt, Dcs oto o s Sco Eto, I Ecto Ss, ISN , 3. [3] o,.l. h Dcs o ht h Etos, oh W Sos, hchst, Nw Yok, Wh, s, So, ooto, ISN , 998. [4] h.. Dc Zo oct vo ăă ot (Dc ht th s)., E. tch, cşt, ISN , 3. [5] Etk,., Dcs o toshc ht, oh W Sos, Ic., Nw Yok, 97. [6] Kovkov, N.., Sst stt tth ov,stcschh th kt, E. îss Sko, oskv, 976. [7] Lv,.., Gsot, N.., stk kt, E. sosto, oskv, 97. [8] Ns,.N., ss ocs, cgw- ook o, Ic., Nw-Yok, ooto, Loo, 96. [9] Nt,.., o,., t,., vo ş cht, coct oct, E. t, cst, 985. [] ISO 5 -:988 -:985-3:989 [] SLE oo thtc L, so 4., 993 [] ot Kcck- Notc Estto o oto E, ocs o th 4th WSESISE Itto oc DYNIL SYSES ONOL (ONOL'8) o, Gc, Octo 6-8, 8. [3] St sok- Osvt o 4th O Dc Ssts ocs o th 8th WSES Itto oc o SILION, ODELLING OIIZION (SO '8) St, t, S, St 3-5, 8 [4] Zh w,w L Shj Go - Lt oto o ct o o W ocs o th 8th WSES Itto oc o SILION, ODELLING OIIZION (SO '8) St, t, S, St 3-5, 8 [5]. o, -. ht,., S. ht S. E - o o ch oc o tv S tt jctos ocs o th th WSES Itto oc o OI ONOL, ODELLING SILION (OS'8).Ist, k, 7-3, 8. [6] to. Doosh - Sthss o ttt oto o ss o os, WSES NSIONS o SYSES ND ONOL o 3, 8 ISSN: [7] -So s - h cct osto ch o WSES NSIONS o SYSES ND ONOL o 4, 9 ISSN: ISSN: Iss 9, o 5, St

Stabilizing gain design for PFC (Predictive Functional Control) with estimated disturbance feed-forward

Stabilizing gain design for PFC (Predictive Functional Control) with estimated disturbance feed-forward Stblzg g sg o PFC Pctv Fctol Cotol wth stt stbc -ow. Zbt R. Hb. och Dtt o Pocss Egg Plt Dsg Lboto o Pocss Atoto Colog Uvst o Al Scc D-5679 öl Btzo St. -l: hl.zbt@sl.h-ol. {obt.hb l.och}@ h-ol. Abstct: