Identification and Stochastic Optimizing the UAV Motion Control in Turbulent Atmosphere

Yıl 2021, Cilt: 02 Sayı: 02, 57 - 63, 24.12.2021

Yevgeny Somov , Nikolay Rodnishchev Tatyana Somova

Öz

In a class of diffusion Markov processes, we formulate a problem of identification of nonlinear stochastic dynamic systems with random parameters, multiplicative and additive noises, control functions, and the state vector at a final time moment. For such systems, the identifiability conditions are being studied, and necessary conditions are formulated in terms of the general theory of extreme problems. The developed engineering methods for identification and optimizing nonlinear stochastic systems are presented as well as their application for unmanned aerial vehicles under wind disturbances caused by atmospheric turbulence, namely, for optimizing the autopilot parameters during a rotary maneuver of an unmanned aerial vehicle in translational motion, taking into account the identification of its angular velocities.

Anahtar Kelimeler

Unmanned Aerial Vehicle, Motion Control, Identification, Stochastic Optimization

Destekleyen Kurum

Russian Foundation for Basic Research

Proje Numarası

Grant no. 20-08-00779.

Kaynakça

• Bodner, V., Rodnishchev, N. and Yurikov, E., 1987, Optimization of Terminal Stochastic Systems. Moscow: Mashinostroyeniye.
• Bulinsky, A. V. and Shiryaev, A. N., 2005, Theory of Random Processes. Moscow: PhysMathLit.
• Chernetsky, V. I., 1968, Analysis of Accuracy of Nonlinear Control Systems. Moscow: Mashinostroyeniye. Dashevskii, M.L., 1976, Implementing a moment semi-invariant method for random process analysis. Avtomatika i Telemekhanika, (10), pp.23-26.
• Denisov, K. and Rodnishchev, N., 2017, Identification of Parameters and Control for Stochastic Dynamical Systems with Functional Limitations. Kazan: Shkola.
• Dostupov, B. G., Ed., 1970, Statistical Methods in Design of Nonlinear Automatic Control Systems, Moscow: Mashinostroyeniye.
• Dubovitskii, A. and Milyutin, A., 1965, Extreme problems with restrictions, USSR Comp. Math. and Math. Phys., 5(3), pp. 1-80.
• Evlanov, E. and Konstantinov, V., 1976, Systems with Random Parameters, Moscow: Nauka.
• Fleming, W.H. and Rishel, R.W., 2012, Deterministic and stochastic optimal control (Vol. 1), Springer Science & Business Media.
• Gikhman, I.I. and Skorokhod, A.V., 2004, The theory of stochastic processes II, Springer Science & Business Media. Girsanov, I.V., 2012, Lectures on mathematical theory of extremum problems (Vol. 67), Springer Science & Business Media.
• Ioffe, A. and Tikhomirov, V., 1974, Theory of Extreme Problems, Moscow: Nauka.
• Kazakov, I., 1977, Statistical Dynamics of Systems with Variable Structure, Moscow: Nauka.
• Kazakov, I. and Artemyev, V., 1980, Optimization of Dynamic Systems with Random Structure, Moscow: Nauka.
• Kolosov, G., 1984, Synthesis of Optimal Automatic Systems at Random Disturbances, Moscow: Nauka.
• Kozhevnikov, Yu., 1978, Statistical Optimization of Flying Vehicles, Moscow: Mashinostroyeniye.
• Kozhevnikov, Yu., Agdamov, R. et al., 1989, Computer Aided Tests in Aviation Industry, Moscow: Mashinostroyeniye.
• Malakhov, A., 1978, Cumulative Analysis of Random non-Gaussian Processes and their Transformations, Moscow: Sov. Radio.
• Oksendal, B., 2000, Stochastic Differential Equations, New York: Springer Verlag.
• Potseluyev, A. V., 1984, Statistical Analysis and Synthesis of Complex Dynamic Systems, Moscow: Mashinostroyeniye.
• Pugachev, V. and Sinitsyn, I., 1985, Stochastic Differential Systems, Moscow: Nauka.
• Romanenko, L., Samarova, G. and Zaitsev, S., 2012, Control of lateral motion of a flying vehicle with one symmetry plane, Vestnik of Tupolev Kazan State Technical University, (2), pp. 260-267.
• Rodnishchev, N., 2001a, Approximate method for optimal control of nonlinear stochastic systems with limita-tions, Automat. Rem. Contr., 62(2), pp. 248-259.
• Rodnishchev, N., 2001b, Necessary conditions for the optimal control of constrained discontinuous nonlinear stochastic systems, J. Comput. Sys. Sc. Int., 40(6), pp. 878-889.
• Rodnishchev, N.E. and Khairullin, A.K., 2010, Necessary conditions for optimality of stochastic systems with uncontrollable flow of failures and constraints of the equality and inequality type, Automation and Remote Control, 71(11), pp.2367-2382.
• Rodnishchev, N., Somov, Y., Butyrin, S. and Somova, T., 2019, Reliable Control Optimization in Aerospace Engineering at Stochastic Stream of Faults, IFAC-PapersOnLine, 52(12), pp.188-193.
• Rodnishchev, N. and Somova, T., 2019, June. Identification and Stochastic Checking a Control Safety at a Landing of Aerospace Vehicles. In 2019 IEEE 5th International Workshop on Metrology for AeroSpace (MetroAeroSpace) (pp. 506-510), IEEE.
• Solodov, A. and Solodov, A., 1988, Statistical Dynamics of Systems with Dotted Processes, Moscow: Nauka.
• Somov, Y., Butyrin, S., Somov, S. and Somova, T., 2019, Control of robot-manipulator during its preparation and capture of a passive satellite, Mathematics in Engineering, Science & Aerospace (MESA), 10(3).