ALGORITHMS AND ARCHITECTURE OF THE CONTROL SYSTEM FOR TRAJECTORY MOTION OF A MULTI-ROTOR FLYING VEHICLE
K. Yu. Kotov, A. S. Maltsev, A. A. Nesterov, A. P. Yan
Institute of Automation and Electrometry, Siberian Branch, Russian Academy of Sciences, Novosibirsk, Russia
Keywords: управление траекторным движением, полёт по маршруту, мультироторный летательный аппарат, метод структурного синтеза, trajectory motion control, en-route flight, multi-rotor flying vehicle, jet synthesis method
Abstract
A control algorithm based on required differential equations in terms of deviations is proposed for solving the problem of tracking the desired trajectory in terms of the target position. Route planning is performed on the basis of the authors' method of calculating a plane trajectory consisting of oriented segments of straight lines connected by clothoids. Hardware and software for the automatic flight control are presented. The workability of the control system in the presence of measurement noise and external disturbances is confirmed by results of experiments on indoor quadrotor flight control
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