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Model-Based Development of Autopilot for a Gasodynamically Controlled High-Speed Unmanned Aerial Vehicle

Journal of Automation, Mobile Robotics and Intelligent Systems
Volume 19 (2025): Issue 2 (June 2025)
By:
Open Access
|Jun 2025

Figures & Tables

Figure 1.

Top-level Simulink scheme of the control algorithm
Top-level Simulink scheme of the control algorithm

Figure 2.

Roll angle extrapolation block scheme (signal frequencies denoted in blue font)
Roll angle extrapolation block scheme (signal frequencies denoted in blue font)

Figure 3.

Simplified sequence of events before activation of the thrusters
Simplified sequence of events before activation of the thrusters

Figure 4.

Software development process
Software development process

Figure 5.

Three-dimensional flight trajectory
Three-dimensional flight trajectory

Figure 6.

Position errors (in the last phase of flight)
Position errors (in the last phase of flight)

Figure 7.

Angular rates
Angular rates

Figure 8.

Euler angles (roll, pitch, and yaw)
Euler angles (roll, pitch, and yaw)

Figure 9.

Forces generated by lateral motors
Forces generated by lateral motors

Figure 10.

Impact point dispersion (uncontrolled flights)
Impact point dispersion (uncontrolled flights)

Figure 11.

Impact point dispersion (controlled flights)
Impact point dispersion (controlled flights)

Figure 12.

Number of activated lateral motors
Number of activated lateral motors

Figure 13.

Time differences in firing commands (Simulink vs C code)
Time differences in firing commands (Simulink vs C code)

Figure 14.

Control system prototype during the laboratory experiments
Control system prototype during the laboratory experiments

Figure 15.

Coordinate systems
Coordinate systems

Example of the firing table_

Pulse no.Thruster IDAngular position
120°
2525°
………
3228285°
DOI: https://doi.org/10.14313/jamris-2025-010 | Journal eISSN: 2080-2145 | Journal ISSN: 1897-8649
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Language: English
Page range: 8 - 25
Submitted on: Feb 17, 2024
Accepted on: Nov 7, 2024
Published on: Jun 26, 2025
Published by: Łukasiewicz Research Network – Industrial Research Institute for Automation and Measurements PIAP
In partnership with: Paradigm Publishing Services
Publication frequency: 4 times per year
Keywords:
model-based design,
automatic code generation,
Embedded Coder
Related subjects:
Computer sciences,
Artificial intelligence,
Engineering,
Electrical engineering,
Control engineering, metrology and testing,
Mechanical engineering,
Fundamentals of mechanical engineering

© 2025 Mariusz Jacewicz, Dariusz Miedziński, Grzegorz Chmaj, Robert Głębocki, published by Łukasiewicz Research Network – Industrial Research Institute for Automation and Measurements PIAP
This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 License.

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