Optimal Drone Control Based on Predictive Model

The solution of the problems of optimal control of aircraft-type drones is considered on the basis of the synthesis method with the predictive model in accordance with the criterion of the generalized work of A.A. Krasovsky. An analytical expression is obtained for the control law of a nonlinear dynamic object with variable control efficiency. The approximation of a single mass point under conditions of applied forces causes motion in atmosphere layers (integral force of head resistance, integral lift force, integral force of head roll-out) is used as a mathematical model of a drone. In the synthesis of optimal control, natural forces are imposed on these forces, due to the aerodynamic laws of flow around the drone. Due to the combination of the point model and the forces applied to this point, an analytical expression for the control law is obtained, in spite of the nonlinearity of the drone equations. Synthesized controls permit to solve the problems of terminal management which is a very important condition in the control of the drone planting.