**:** ..,

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**:** 2020
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** :**
**:** 85
**:** .., .. // . 85. .: , 2020. .113-142. DOI: https://doi.org/10.25728/ubs.2020.85.6

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** :** , , , -,

** (.):** unmanned aerial vehicle, tracking, invariance, sigma function, reduced order observer

**:** . , . , , . . . , . , , , , . . .

** (.):** The problem of automatic control of the movement of the center of mass of an unmanned aircraft under the influence of external uncontrolled disturbances and measurements of only the spatial coordinates of the center of mass and their given trajectories is considered. The task is to synthesize of the control law in the form of dynamic feedback, providing tracking of the given signals invariant in relation to external disturbances with a given accuracy. Within the framework of the block approach with the use of sigmoidal feedback, providing the limits of fictitious and true controls, regulators of two types are developed. In the first controller, thanks to compensation of cross-links in the closed system the independent control of spatial coordinates of the center of mass with an independent choice of feedback parameters in each of the three loops is provided. To implement this algorithm, reduced order observer is constructed to estimate the velocity vector by measuring the center of mass vector coordinates. Based on these signals in online mode, the sinuses and cosines of angles of inclination of the trajectory and course are calculated in online mode, which are necessary for the formation of feedback. In the second controller, to reduce the amount of calculations performed in real time, the cross-connections are not compensated, and in a closed system the matrix before the control is not diagonal. In order to select the feedback parameters, a hierarchical procedure has been developed with the matrix form before control conversion to an offline upper triangular. To implement this algorithm, reduced order observer was constructed to estimate the vector of derivative tracking errors by measuring the tracking error vector. The results of numerical modeling and joint analysis of the developed regulators are given.

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