METHOD OF PATH CONSTRUCTING OF INFORMATION ROBOT ON THE BASIS OF UNMANNED AERIAL VEHICLE

Authors

  • Alexander Lysenko National Technical University of Ukraine «Igor Sikorsky KPI»
  • Olena Tachinina National Aviation University

DOI:

https://doi.org/10.18372/2306-1472.73.12177

Keywords:

unmanned aerial vehicles, information robot, compound dynamic system, optimal control, branching path

Abstract

Purpose: The purpose of this article is to present a method for constructing the branching path of the information robot (IR) that is a compound dynamic system (CDS) allowing us to formulate, in terms of optimal control theory, conditions of CDS path modeling with an arbitrary branching scheme. Methods: The article describes a method of theory of discontinuous dynamical systems optimal control, which is used to prove the optimality conditions for phase coordinates in the points of structural transformations of the IR’s branching path. Results: The necessary conditions for the optimality of the branching path along which the IR moves are defined. These conditions allow using standard subprograms to solve ordinary differential and algebraic equations and thereby to solve the task of modeling the optimal path of CDS with an arbitrary branching scheme. Discussion: The proposed method is the methodological basis for definition the computing algorithms allowing to simulate the optimal CDS paths. The proposed procedure of optimal branching paths simulating is part of the IR’s computer-aided design software and can be used to define computing algorithms taking into account the peculiarity of information-telecommunication interaction of CDS’s specific elements.

Author Biographies

Alexander Lysenko, National Technical University of Ukraine «Igor Sikorsky KPI»

Doctor of Engineering, Professor.

Department of Telecommunication, National Technical University of Ukraine «Igor Sikorsky KPI».

Education: Kiev Higher Military Aviation Engineering School, Ukraine (1974).

Research area: flight dynamics, automatization, optimal control.

Olena Tachinina, National Aviation University

Candidate of Engineering, Associate Professor.

Department of Automation and Energy Management, National Aviation University

Education: National Aviation University, Kyiv, Ukraine (1999).

Research area: flight dynamics, automatization, optimal control.

References

Bryson E., Yu-Chi Ho. (1975) Applied Optimal Control. New York, USA, Revised edition, 482 p. (United States).

Ashchepkov L.T. (1987). Optimal'noye upravleniye razryvnymi sistemami [Optimal control of discontinuous systems]. Novosibirsk, Nauka Publ., 226 p. (in Russian).

Samoylenko A. M, Perestyuk N.A. (1987). Differentsial'nyye uravneniya s impul'snym vozdeystviyem [Differential equations with impulse action]. Kiev, Higher school, 228 p. (in Ukranian).

Lysenko A. I. (1988). Usloviye skachka v zadache optimal'nogo upravleniya ob"yektom [The jump condition in the problem of optimal control of a compound object]. Adaptive systems of automatic control, vol. 6, pp. 136-141. (in Ukranian).

Lysenko A. I., Tachinina O. M. (2014). Matematicheskaya postanovka zadachi optimizatsii dvizheniya gruppy letayushchikh robotov na baze bespilotnykh letatel'nykh apparatov [The mathematical formulation of the optimization problem of motion group flying robots based unmanned aerial vehicles]. Scientific Bulletin of the Academy of Municipal Management, vol. 1, no. 7, pp 83-100. (in Ukranian).

Lysenko A. I., Tachinina O. M. Alekseeva I.V, and Chumachenko S. M. (2015). The Scenario-Based Approach for Control of Multi-Object Dynamic System Motion. IEEE 3rd International Conference «Actual problems of unmanned aerial vehicles developments», October 13-15, pp. 305-308. (in Ukranian).

Lysenko A. I., Tachinina O. M. (2016). Optimal principle for dynamical system with alterative orbiting. Electronics and control systems, vol. 4, no. 50, pp. 108-113. (in Ukranian).

Published

27-12-2017

How to Cite

Lysenko, A., & Tachinina, O. (2017). METHOD OF PATH CONSTRUCTING OF INFORMATION ROBOT ON THE BASIS OF UNMANNED AERIAL VEHICLE. Proceedings of National Aviation University, 73(4), 60–67. https://doi.org/10.18372/2306-1472.73.12177

Issue

Section

AEROSPACE SYSTEMS FOR MONITORING AND CONTROL