DOI 10.17586/0021-3454-2024-67-5-385-394
UDC 681.5
ALGORITHM FOR COORDINATED TRAJECTORY CONTROL OF QUADCOPTER MOTION
ITMO University, Faculty of Control Systems and Robotics;
A. A. Pyrkin
ITMO University, Saint Petersburg, 197101, Russian Federation; Full Professor, Dean
O. I. Borisov
ITMO University, Saint Petersburg, 197101, Russian Federation; postgraduate,engineer
Reference for citation: Kim S. A., Pyrkin A. A., Borisov O. I. Algorithm for coordinated trajectory control of quadcopter motion. Journal of Instrument Engineering. 2024. Vol. 67, N 5. P. 385–394 (in Russian). DOI: 10.17586/0021-3454-2024-67-5-385-394.
Abstract. A complete model of the motion of a quadcopter along a smooth spatial trajectory is presented. Using the model, a robust algorithm for controlling a quadcopter based on measurements of linear coordinates and yaw angle is proposed. Using additional integrators, a dynamic control algorithm with a simplified controller tuning technique is designed.
Abstract. A complete model of the motion of a quadcopter along a smooth spatial trajectory is presented. Using the model, a robust algorithm for controlling a quadcopter based on measurements of linear coordinates and yaw angle is proposed. Using additional integrators, a dynamic control algorithm with a simplified controller tuning technique is designed.
Keywords: robust control, quadrotor motion control, dynamic positioning, coordinated control, geometric approach.
Acknowledgement: the work was carried out with the support of the Ministry of Science and Higher Education of the Russian Federation, state assignment passport No. 2019-0898.
References:
Acknowledgement: the work was carried out with the support of the Ministry of Science and Higher Education of the Russian Federation, state assignment passport No. 2019-0898.
References:
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