DOI 10.17586/0021-3454-2023-66-10-834-844
UDC 681.5
ALGORITHMS FOR CONTROLLING A QUADCOPTER MOVEMENT IN DYNAMIC POSITIONING MODE
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
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Reference for citation: Kim S. A., Pyrkin A. A., Borisov O. I. Algorithms for controlling a quadcopter movement in dynamic positioning mode. Journal of Instrument Engineering. 2023. Vol. 66, N 10. P. 834—844 (in Russian). DOI: 10.17586/0021-3454-2023-66-10-834-844.
Abstract. A complete model of quadcopter motion is obtained for the problem of dynamic positioning at a point, on the basis of which two control algorithms are proposed. The first generalizes the previously obtained results to the case of a changing yaw angle. The second control algorithm solves the problem on the base of a simplified technique for tuning the controller.
Abstract. A complete model of quadcopter motion is obtained for the problem of dynamic positioning at a point, on the basis of which two control algorithms are proposed. The first generalizes the previously obtained results to the case of a changing yaw angle. The second control algorithm solves the problem on the base of a simplified technique for tuning the controller.
Keywords: robust control, quadrotor motion control, dynamic positioning, coordinated control, geometric approach
Acknowledgement: The work was supported by a grant from the President of the Russian Federation No. MD-3574.2022.4 and the Ministry of Science and Higher Education of the Russian Federation (state assignment passport No. 2019-0898).
References:
Acknowledgement: The work was supported by a grant from the President of the Russian Federation No. MD-3574.2022.4 and the Ministry of Science and Higher Education of the Russian Federation (state assignment passport No. 2019-0898).
References:
- Borisov O.I., Pyrkin A.A., Isidori A. IFAC-PapersOnLine, 2019, no. 16(52), pp. 837–842, DOI: 10.1016/j.ifacol.2019.12.067
- Borisov O.I., Kakanov M.A., Zhivitckii A.Yu., Pyrkin А.А. Journal of Instrument Engineering, 2021, no. 12(64), pp. 982–992. (in Russ.)
- Gauthier J.P., Kupka I. Deterministic observation theory and applications, Cambridge University Press, 2001.
- Isidori A., Pyrkin A., Borisov O. Automatica, 2019, vol. 106, рp. 178–183, DOI: 10.1016/j.automatica.2019.04.043.
- Borisov O., Isidori A., Kakanov M., Pyrkin A. International Journal of Robust and Nonlinear Control, 2022, no. 18(32), pp. 10358–10373, DOI: 10.1002/rnc.6366.
