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

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

Open Access
|Jun 2025

Figures & Tables

Figure 1.

Top-level Simulink scheme of the control algorithm

Figure 2.

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

Figure 3.

Simplified sequence of events before activation of the thrusters

Figure 4.

Software development process

Figure 5.

Three-dimensional flight trajectory

Figure 6.

Position errors (in the last phase of flight)

Figure 7.

Angular rates

Figure 8.

Euler angles (roll, pitch, and yaw)

Figure 9.

Forces generated by lateral motors

Figure 10.

Impact point dispersion (uncontrolled flights)

Figure 11.

Impact point dispersion (controlled flights)

Figure 12.

Number of activated lateral motors

Figure 13.

Time differences in firing commands (Simulink vs C code)

Figure 14.

Control system prototype during the laboratory experiments

Figure 15.

Coordinate systems

Example of the firing table_

Pulse no.Thruster IDAngular position
12
2525°
3228285°
DOI: https://doi.org/10.14313/jamris-2025-010 | Journal eISSN: 2080-2145 | Journal ISSN: 1897-8649
Language: English
Page range: 8 - 25
Submitted on: Feb 17, 2024
Accepted on: Nov 7, 2024
Published on: Jun 26, 2025
In partnership with: Paradigm Publishing Services
Publication frequency: 4 issues per year

© 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.