Hierarchical Intelligent-Geometric Control Architecture for Unmanned Aerial Vehicles Operating in Uncertain Environments

This paper considers the cutting-edge scientific problem of controlling unmanned aerial vehicles (UAVs) in unstable conditions based on intelligent-geometric theory that combines geometric control methods (methods of optimal control, complex motion control and stabilization, trajectory tracking, differential pursuit-evasion games, etc.) with intelligent control methods using tools of artificial intelligence (productions, semantic networks, fuzzy logic, frame-based behavioral microprograms and operations, methods of knowledge acquisition, etc.). Such integration provides reliable and high-performance control techniques for operating in uncertain environments under wind disturbances. Hierarchical architecture of intelligent-geometric control system is proposed, designed for joint application of precise geometric and adaptive intelligent control methods as parts of a single robotic system. In accordance with the proposed architecture, the solution to the problem of controlling a UAV group taking into account mathematical models of an aircraft and wind loads was simulated in MATLAB Simulink system. © 2020, Springer Nature Switzerland AG.