Algorithm for coordinated trajectory control of quadcopter motion
https://doi.org/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.
Keywords
robust control,
quadrotor motion control,
dynamic positioning,
coordinated control,
geometric approach
Supporting agencies: 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.
About the Authors
S. A. Kim
ITMO University
Russian Federation
Russian Federation
Stanislav A. Kim - Post-Graduate Student
St. Petersburg
A. A. Pyrkin
ITMO University
Russian Federation
Russian Federation
Anton A. Pyrkin - Dr. Sci., Professor
St. Petersburg
O. I. Borisov
ITMO University
Russian Federation
Russian Federation
Oleg I. Borisov - PhD; Associate Professor
St. Petersburg
References
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Review
For citations:
Kim S.A., Pyrkin A.A., Borisov O.I. Algorithm for coordinated trajectory control of quadcopter motion. Journal of Instrument Engineering. 2024;67(5):385-394. (In Russ.) https://doi.org/10.17586/0021-3454-2024-67-5-385-394
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