ALGORITHMS OF ADAPTIVE CONTROL OF ROBOTIC SECURITY MONITORING SYSTEMS
The purpose of the work: to resolve the contradiction between the requirements for ensuring accuracy and stability when choosing the value of the yaw angle transmission coefficient in the angular stabilization system of an unmanned aerial vehicle for security monitoring. Method: complex theoretical and applied synthesis, based on the heuristic method, in the class of searchless self-adjusting systems that implement direct adaptive control. Results: a control algorithm is developed that reduces the value of the angle transfer coefficient for large deviations from the zero value on the phase plane, which increases the created phase advance. With small deviations, the coefficient value increases, which increases the accuracy of the angular stabilization system of a remotely piloted aircraft. It is concluded that it is necessary and appropriate to use direct adaptive control algorithms that increase the accuracy of the remotely piloted aircraft stabilization system while maintaining stability reserves.