STABILITY ROBUSTNESS OF  CONTROL SYSTEMS OF MULTIROTOR UNMANNED AERIAL VEHICLES

https://doi.org /10.59982/18294359-24.15-sv-19

Abstract

Multirotor unmanned aerial vehicles (UAVs) are broadly used in various military and civilian areas and tasks. In real flights of the multirotor UAVs, certain unexpected situations may occur, which can lead to improper functionality and even failures of elements or devices of the UAV’s control system. In some cases, this can even lead to the complete collapse of the UAV. Therefore, the safety of UAV flights is nowadays of prime importance.

A method of analysis of the stability robustness of the UAV’s control systems with respect to the parameters multiplicative uncertainties (or perturbations), including possible efficiency degradation of DC motors, is proposed in the paper. Stability robustness is determined by a simple graphical procedure on the complex plane of the Nyquist or Nichols hodographs of the control system’s separate channels. That procedure is quite similar to the well-known classical feedback control procedure of determining the peak gain of the single-input, single-output closed-loop control system by the Nyquist hodograph of the open-loop system. A numerical example illustrating the proposed method is given.

Keywords: Multirotor UAV, stability robustness, multiplicative uncertainty, motors efficiency degradation, multivariable control system.

    PAGES : 184-191

DOWNLOAD FULL ARTICLE