A study on control command synthesis algorithm for single-channel flying equipment with linear steering vane

This paper presents the algorithm and mathematical foundation for control command synthesis applied to single-channel flying equipment equipped with a linear steering vane. The proposed algorithm is developed based on optimal control principles, with a cost function aiming to minimize control energy. From the resulting control law, a relationship is established between the control signal and the normal force acting on the flying equipment. Simulation results are conducted to demonstrate the superiority of the proposed control law over relay-based control, particularly in applications involving single-channel flying equipment.