Selecting the loop gains of the unmanned aerial vehicle pitch attitude control system with allowance for tolerances on the aerodynamic and mass centering characteristics

The aim of the paper is to develop an approach to selecting the coefficients of the attitude control specified law with allowance for tolerances on the aerodynamic and mass centering characteristics of the statically stable unmanned aerial vehicle (UAV). These characteristics provide the fulfillment of the main task, namely ensuring the flight stability at the set mode. The task reduces to choosing the required coefficients, providing the fulfillment of the Kharitonov theorem conditions concerning the robust stability of the systems with the interval indeterminacy. We have formulated a statement that for the statically stable UAV there always exists an area of the required parameters at which the attitude control system is robustly stable. The article suggests an engineering approach, based on the Kharitonov theorem and D-partitioning method, to selecting the coefficients of the specified attitude control law. The application of this approach is illustrated by the example.

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