DOI 10.17586/0021-3454-2024-67-3-294-299
UDC 62.50
FINITE CONTROL OF A QUADCOPTER WITH A GUARANTEE FOR THE OUTPUT SIGNAL TO BE IN A GIVEN SET
ITMO University, Faculty of Control Systems and Robotics ;
M. Y. Marusina
ITMO University, Saint Petersburg, 197101, Russian Federation; Professor, Scientific Secretary
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Reference for citation: Kuznetsov M. D., Marusina M. Ya. Finite control of a quadcopter with a guarantee for the output signal to be in a given set. Journal of Instrument Engineering. 2024. Vol. 67, N 3. P. 294—299 (in Russian). DOI: 10.17586/0021-3454-2024-67-3-294-299.
Abstract. A new algorithm for finite control of an unmanned aerial vehicle in roll and pitch is proposed. The control algorithm allows to save the output signal of the object under consideration within pre-known boundaries for a certain time interval regardless of incoming external perturbations. An analysis of the dynamic system is performed; the control goal is determined with the main requirement to the output signal of finding in a given set. Effectiveness of the proposed control algorithm is tested in simulations carried out in the MatLab environment using various restrictions and generated signals for external disturbances.
Abstract. A new algorithm for finite control of an unmanned aerial vehicle in roll and pitch is proposed. The control algorithm allows to save the output signal of the object under consideration within pre-known boundaries for a certain time interval regardless of incoming external perturbations. An analysis of the dynamic system is performed; the control goal is determined with the main requirement to the output signal of finding in a given set. Effectiveness of the proposed control algorithm is tested in simulations carried out in the MatLab environment using various restrictions and generated signals for external disturbances.
Keywords: control, regulator, constraints, finite control, computer simulation, quadcopter
References:
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