Algorithm for Controlling the Movement of a Robotic Aircraft Towing System along a Contrast Line

摘要

The paper describes the control system of a robotic airfield towing system for towing aircraft at the third level of autonomy. The positioning control system is based on the principle of superposition of calculated "reference influences", taking into account the parameters of the trajectory and wheel system of bodies, as well as corrective influences, which depend on the tracking error. The corrective control is based on the logical processing of the optronic matrix signals. The method of synthesis of multi-channel regulator and the algorithm of control of robotic tugboat are given, the algorithms of control of robotic tugboat system movement along the set contrast line under the action of external disturbing influences of deterministic and random types are described. A comparative assessment of the quality of aircraft towing system according to the developed integral criterion is made.