Algorithms for controlling a quadcopter movement in dynamic positioning mode
https://doi.org/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
Keywords
robust control,
quadrotor motion control,
dynamic positioning,
coordinated control,
geometric approach
Supporting agencies: 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).
About the Authors
S. A. Kim
ITMO University
Russian Federation
Russian Federation
Stanislav A. Kim - Faculty of Control Systems and Robotics; Engineer
St. Petersburg
A. A. Pyrkin
ITMO University
Russian Federation
Russian Federation
Anton A. Pyrkin - Dr. Sci., Professor, Faculty of Control Systems and Robotics; Professor
St. Petersburg
O. I. Borisov
ITMO University
Russian Federation
Russian Federation
Oleg I. Borisov - PhD, Faculty of Control Systems and Robotics; Associate Professor
St. Petersburg
References
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2. 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.)
3. Gauthier J.P., Kupka I. Deterministic observation theory and applications, Cambridge University Press, 2001.
4. Isidori A., Pyrkin A., Borisov O. Automatica, 2019, vol. 106, рp. 178–183, DOI: 10.1016/j.automatica.2019.04.043.
5. 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.
Review
For citations:
Kim S.A., Pyrkin A.A., Borisov O.I. Algorithms for controlling a quadcopter movement in dynamic positioning mode. Journal of Instrument Engineering. 2023;66(10):834-844. (In Russ.) https://doi.org/10.17586/0021-3454-2023-66-10-834-844
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