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2012 year, number 5

Control of Flight Parameters of a Quadrotor Vehicle Moving over a Given Trajectory

S. A. Belokon', Y. N. Zolotukhin, A. S. Mal'tsev, A. A. Nesterov, M. N. Filippov, A. P. Yan
Institute of Automation and Electrometry, Siberian Branch, Russian Academy of Sciences
Keywords: unmanned aerial vehicle, control of motion, quadrotor vehicle
Pages: 32-41


The problem of control of an autonomous unmanned aerial vehicle with vertical takeoff and landing, which moves over a trajectory specified in the coordinate space, is considered. A method of constructing a system of automatic control of quadrotor vehicle takeoff and flight is proposed. Analytical relations for control actions on four engines that ensure vehicle motion over a prescribed trajectory with desired values of altitude and velocity are derived.