Matematika i Matematičeskoe Modelirovanie (Jun 2016)
The plane motion control of the quadrocopter
Abstract
Among a large number of modern flying vehicles, the quadrocopter relates to unmanned aerial vehicles (UAV) which are relatively cheap and easy to design. Quadrocopters are able to fly in bad weather, hang in the air for quite a long time, observe the objects and perform many other tasks. They have been applied in rescue operations, in agriculture, in the military and many other fields.For quadrocopters, the problems of path planning and control are relevant. These problems have many variants in which limited resources of modern UAV, possible obstacles, for instance, for flying in a cross-country terrain or in a city environment and weather conditions (particularly, wind conditions) are taken into account. Many research studies are concerned with these problems and reflected in series of publications (note the interesting survey [1] and references therein). Various methods were used for the control synthesis for these vehicles: linear approximations [2], sliding mode control [3], the covering method [4] and so on.In the paper, a quadrocopter is considered as a rigid body. The kinematic and dynamic equations of the motion are analyzed. Two cases of motion are emphasized: a motion in a vertical plane and in a horizontal plane. The control is based on transferring of the affine system to the canonical form [5] and the nonlinear stabilization method [6].DOI: 10.7463/mathm.0215.0789477
