Quadrocopter control by the method of “flexible” kinematic trajectories

Authors: Mikhalin D.A.
Published in issue: #7(60)/2021
DOI: 10.18698/2541-8009-2021-7-718
Category: Informatics, Computer Engineering and Control | Chapter: System Analysis, Control, and Information Processing, Statistics
Keywords: trajectory control of a quadrocopter, method of “flexible” kinematic trajectories, boundary value problem, inverse problem of dynamics, quaternions, mathematical modeling, quadrocopter, flight mechanics
Published: 03.08.2021

Contrary to the popular belief that an increase in the trajectory update rate leads to an increase in the final accuracy in the presence of disturbing influences in problems of controlling the position of the aircraft center of mass, in order to build stable control systems it is necessary to understand the physical principles of flight that limit the possible range of these frequencies. In this paper, it is shown that for the control laws there is a natural upper limit of the refresh rate, exceeding which leads to a violation of stable motion. An algorithm for controlling a quadrocopter by the method of “flexible” kinematic trajectories, which takes into account the action of disturbing factors, is presented. The performance of the algorithm is shown under small external influences.

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