Feedback Synthesis for UAVs Based on the Control Hierarchy Method

For an unmanned aerial vehicle under the influence of external uncontrolled disturbances, the problem of synthesis the control law in the form of dynamic feedback which ensures the movement of the center of mass along a given spatial trajectory is considered. Within the framework of the block approach, a hierarchical procedure for the synthesis of S-shaped sigmoidal feedbacks has been developed that ensures ε-invariance of tracking errors to external disturbances, taking into account design restrictions on speed and overload. A lower-order observer is constructed for estimating derivative tracking errors from measurements of tracking errors. The results of numerical modeling of the developed algorithms are presented.