Synthesis of an algorithm of hierarchical control of UAVs group

In this paper the problem of optimal control of a group of unmanned aerial vehicles (UAV) based on hierarchical decentralized approach is studied. A mathematical model of UAV motion is described by a system of ordinary nonlinear differential equations. Optimal control, providing a minimum of an integral quadratic functional quality is determined by the method of dynamic control. The Bellman equation method of characteristics is reduced to a two-point boundary value problem whose solution is performed using Krasovsky-s method of generalized work. An example of synthesis of optimal control for the trajectory control loop flight.