Page 13 - Neural Network Modeling and Identification of Dynamical Systems

Introduction

The world of controlled dynamical systems Nowadays almost all UAVs are actually re-
is diverse and multifaceted. Among the most motely piloted vehicles that require a human
important classes of such systems, tradition- operator (or even an entire crew) located at the
ally difficult to study, are aircraft of various ground control station to manage UAV flight.
kinds. One of the challenging modern problems However, UAVs will be truly effective only
of aeronautical engineering is to create highly when they are capable to accomplish missions
autonomous robotic unmanned aerial vehicles with a maximum degree of autonomy, i.e., with
(UAVs) intended for the accomplishment of civil minimal human assistance, which is generally
and military missions under a wide variety of reduced to stating the mission goal, monitor-
conditions. These missions include patrolling, ing its accomplishment, and, sometimes, ad-
threat detection, and object protection; monitor- justing the mission during the flight. This is
ing of power lines, pipelines, and forests; aerial caused by potential vulnerability of wireless
photography, monitoring and survey of ice and communication channels required for the re-
fishing areas; performing various assembly op- motely piloted vehicle. Moreover, the human
erations and terrestrial and naval rescue oper- operator ability to react to complex and rapidly
changing situations has certain psychophysio-
ations; and providing assistance in natural and
logical limitations (attentional capacity, reaction
technogenic disaster recovery, various military
time). High autonomy refers not to the ability
operations, and many other scenarios.
to follow a predefined flight schedule, but to
Currently, these types of missions are carried
a “smart” autonomous behavior that adapts to
out mostly by manned aircraft (airplanes and
highly uncertain, dynamically changing situa-
helicopters). The constantly growing number of
tions. At present, a significant number of re-
applications of UAVs in this field is attractive
searchers from different countries are making an
due to the following reasons:
effort to solve the problem of smart autonomy;
• UAVs achieve a significantly higher payload however there is no satisfactory solution yet for
fraction compared to manned aircraft because this problem.
they require neither flight crew nor life sup- Thus, the most important requirement for
port systems and flight compartments; UAVs is that they must have a high level of in-
• UAVs are capable of higher maneuverabil- dependence in solving their tasks. To meet these
ity compared to manned aircraft because of a requirements, a robotic UAV should be able:
higher limit g-load level; • to achieve its goals in a highly dynamic en-
• there is the possibility of creating small UAVs vironment with a significant number of het-
that are significantly less expensive to build erogeneous uncertainties in it, taking into ac-
and operate; count possible counteraction;
• UAVs are capable of accomplishing missions • to adjust the goals, as well as to form new
when human presence is undesirable or unac- goals and sets of goals, based on the value and
ceptable (radioactive hazard, high-risk level, regulatory attitudes (motivation) laid down
etc.). in the UAV behavior control system;

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