maisМоделирование и анализ информационных системModeling and Analysis of Information Systems1818-10152313-5417Yaroslavl State University10.18255/1818-1015-2023-1-16-26mais-1764Research ArticleComputer System OrganizationПостроение оптимальной схемы информационного обмена системы адаптивного управления движением группы беспилотных летательных аппаратовConstruction of an Adaptive Motion Control System Optimal Information Exchange Scheme for a Group of Unmanned Aerial Vehicleshttps://orcid.org/0000-0002-9348-4440КазаковЛеонид НиколаевичKazakovLeonid Nikolaevichkazakov@uniyar.ac.ruhttps://orcid.org/0000-0003-1796-0190КубышкинЕвгений ПавловичKubyshkinEvgeniy Pavlovichkubysh.e@yandex.ruhttps://orcid.org/0000-0002-9184-3286ПалейДмитрий ЭзровичPaleyDmitry Ezrovichdpaley@list.ruЯрославский государственный университет им. П. Г. ДемидоваРоссияP. G. Demidov Yaroslavl State UniversityRussian Federation2023280420233011626Copyright © Казаков Л.Н., Кубышкин Е.П., Палей Д.Э., 20232023Казаков Л.Н., Кубышкин Е.П., Палей Д.Э.Kazakov L.N., Kubyshkin E.P., Paley D.E.Данная работа распространяется под лицензией Creative Commons Attribution 4.0.This work is licensed under a Creative Commons Attribution 4.0 License.https://www.mais-journal.ru/jour/article/view/1764

В работе рассмотрена задача моделирования информационного обмена адаптивной системы управления движением группы беспилотных летательных аппаратов (БЛА). Движение группы БЛА осуществляется в соответствии с адаптивным алгоритмом оптимального управления пространственной перестройкой. Оптимальные управления строятся обеспечивающими минимум общей затрачиваемой энергии. Параметры математической модели движения группы БЛА уточняются в процессе полета в соответствии с изменяющимися внешними условиями. В соответствии с этим уточняются управляющие воздействия. Это требует значительных вычислительных ресурсов и накладывает особые требования на систему информационного обмена между БЛА и пунктом управления. Предложена схема информационного обмена между БЛА и пунктом управления, позволяющая рассчитать оптимальные параметры передающих устройств.

The paper considers the problem of modeling an adaptive control system information exchange for a group of unmanned aerial vehicles (UAVs). The movement of the UAV group is carried out in accordance with the adaptive algorithm for optimal control. Optimal controls are constructed to provide a minimum of the total energy expended. The parameters of the mathematical model of the movement of the UAV group are refined during the flight in accordance with changing external conditions. In accordance with this, the control actions are specified. This task requires significant computing resources and imposes special requirements on the information exchange system between the UAV and the control point. A scheme of information exchange between the UAV and the control point is proposed, which makes it possible to calculate the optimal parameters of the transmitting devices.

информационный обменоптимальное управлениеоптимальная траекториягруппа беспилотных летательных аппаратовinformation exchangeoptimal controloptimal trajectorygroup of unmanned aerial vehiclesРабота выполнена в рамках реализации программы развития регионального научно-образовательного математического центра (ЯрГУ) при финансовой поддержке Министерства науки и высшего образования РФ (соглашение о предоставлении из федерального бюджета субсидии No 075-02-2022-886) и Программы развития ЯрГУ, проект NoП2-К-1- Г-4/2021 П2-ГМ4-2021.This work was carried out within the framework of a development programme for the Regional Scientific and Educational Mathematical Center of the Yaroslavl State University with financial support from the Ministry of Science and Higher Education of the Russian Federation (Agreement on provision of subsidy from the federal budget No. 075-02-2022-886) and funded by YSU Programme according to the research project NoP2-K-1-G-4/2021 P2-GM-2021.ReferencesM. Wang and J. N. 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The authors declare that there are no conflicts of interest present.