Fuzzy Model of Multicopter Motion Control Under Active Operation of Counter-UAV Systems

Existing counter-UAV systems and electronic countermeasure equipment form a great threat not only to the autopilot of multicopters, but also to their remote control, which, in addition, also is fraught with certain problems associated with communication failures, operator errors, delays and inaccuracies in control. To solve these problems, it is proposed to use a multicopter autopilot system based on new principles, implying the placement on board of additional means of backup control and ensuring flight along a given trajectory. The autopilot system for a typical multicopter is designed as a separate module, which is transparent in terms of the control interface. The paper proposes an algorithm for forming the trajectory of a multicopter under active operation of counter-UAV systems. The algorithm involves the use of a fuzzy flight controller built on the basis of the Fuzzy Inference System. The results of image recognition from a route map in six sectors of the Earth's surface view are considered as input characteristics of the basic fuzzy model.