Treffer: ВИКОРИСТАННЯ LQR-КОНТРОЛЕРА ДЛЯ ОПТИМІЗАЦІЇ СИСТЕМ КЕРУВАННЯ БПЛА.

The existing methods of optimizing the control of unmanned aerial vehicles (UAVs) are considered, which requires the development of more complex control algorithms to increase the performance of rotorcraft UAVs. Using the Python programming language, a dynamic optimization of the UAV control system in the state space is carried out. The integral criteria of the minimum energy consumption for control and the maximum speed, which are given by the corresponding functionals, are used. Using Python, namely the extended scipy library, the Riccati equation is solved using matrix operations and the eigenvalues of the closed-loop control system are obtained. Using the available scipy tools, the main function Iqr(A,B,Q,R) of the controller is synthesized. An extended study is conducted that confirms the operability of the developed function. [ABSTRACT FROM AUTHOR]

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