Algorithms and Architecture of the Multirotor Aircraft Trajectory Motion Control System

Autor:	A. S. Mal’tsev, K. Yu. Kotov, A. A. Nesterov, A. P. Yan
Rok vydání:	2020
Předmět:	010302 applied physics Quadcopter Operability Computer science Tracing Condensed Matter Physics Motion control 01 natural sciences 010309 optics Control theory Position (vector) Control system 0103 physical sciences Trajectory Electrical and Electronic Engineering Multirotor Instrumentation
Zdroj:	Optoelectronics, Instrumentation and Data Processing. 56:228-235
ISSN:	1934-7944 8756-6990
DOI:	10.3103/s8756699020030085
Popis:	A control algorithm based on the required differential equations of deviations is proposed to solve the problem of tracing the desired trajectory by target position. The flight path is planned on the basis of the author’s method of calculation of a flat trajectory consisting of oriented segments of straight lines connected by Euler spirals. The software and hardware complex of the automatic flight control system is presented. The operability of the control system in the presence of measurement noises and external disturbances is confirmed by the results of experiments to control the flight of a quadcopter indoors.
Databáze:	OpenAIRE
Externí odkaz:	https://explore.openaire.eu/search/publication?articleId=doi_________::8d92a0bd76cf5dbe4a779bec0696e5f8 https://doi.org/10.3103/s8756699020030085 Zobrazit plný text záznamu Full text from SpringerLink