Nonlinear Control of an Unmanned Flying Platform Carrier

This article examines the problem of controlling the flight of an unmanned flying platform-carrier (UFPC), carrying a group of unmanned aerial vehicles (UAVs) on its upper surface. The flying platform delivers a group of UAVs to a given point in space at the desired time for an air launch from its upper surface. For a more complete picture of the control object, a brief description of the UFPC with the UAVs located on it is given. A detailed description of the mathematical model (MM) of the movement of an unmanned flying platform-carrier is given. In addition, a detailed description of the components of forces and moments included in the mathematical model is given. Nonlinear control laws for an unmanned aerial platform carrier have been synthesized. For the synthesis, a mathematical model of the spatial motion of the UFPC was used. The ADAR method, the analytical design of aggregated regulators, was chosen as the synthesis method. Detailed procedures for the synthesis of nonlinear control laws using the ADAR method are given. As a result of the synthesis, a closed nonlinear system “control object - controller” was obtained for various flight modes of a flying platform-carrier of unmanned aerial vehicles. In the process of modeling, it was found that the closed nonlinear system is asymptotically stable throughout the entire operational range of flight modes, and the resulting controllers ensure the fulfillment of the assigned control tasks.