NONLINEAR CONTROL SYSTEM FOR ANGULAR MOTIONS OF A QUADROTOR VEHICLE
K. Yu. Kotov, Yu. N. Zolotukhin, E. V. Khodatovich, A. P. Yan
Institute of Automation and Electrometry, Siberian Branch, Russian Academy of Sciences, Novosibirsk, Russia
Keywords: quadcopter, attitude motion control, structural synthesis method, HIL modeling
Abstract
The problem of creating a control system for angular movements of a quadcopter that takes into account the transient process of traction motors is considered. Motion equations are obtained for a two-dimensional model of an apparatus mounted on a gyroscopic stand. This model takes into account the displacement of the vehicle rotation center relative to the center of mass and the transient process of the engines in the form of a first-order device reaction. A regulator based on the structural synthesis method is proposed, which ensures quadcopter setting in a given orientation. The algorithm effectiveness is confirmed by the results of HIL modeling, taking into account the noise and time delays of the real device.
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