Abstract
For unmanned aerial vehicles with long-duration autonomous missions, efficient energy management is critically important. One of the most promising solutions is solar power, the implementation of which requires the continuous orientation tracking of the Sun’s position. This study presents a three-axis active solar tracking system based on a gimbal mount, providing full kinematic control of the panel in space. A mathematical model of orientation is developed using the Earth-Centered Inertial, local geographic frame, and unmanned aerial vehicle body coordinate systems. An aerodynamic analysis is conducted, including a quantitative assessment of drag, lift, and torque on the panel. Based on the obtained characteristics, limiting conditions for the safe operation of the tracker are formulated. An adaptive control algorithm is introduced, minimizing a generalized objective function that accounts for angular deviation, aerodynamic loads, and current energy balance. Numerical simulations are described, demonstrating system stability under various scenarios: turbulence, maneuvers, power limitations, and sensor errors. The results confirm the effectiveness of the proposed approach under real-world operating conditions.