TY - GEN

T1 - Some Questions of Trajectory Control of Quadrotor Motion

AU - Zhabko, Natalia

AU - Lepikhin, Timur

AU - Korovkin, Maxim

N1 - Funding Information: Acknowledgments. This work is supported by the Russian Foundation for Basic Research under grant 17-07-00361 A.

PY - 2020/2/1

Y1 - 2020/2/1

N2 - The paper presents an approach to provide the motion of a quadrotor along a given trajectory under the influence of step perturbations. The proposed approach is based on the use of a speed regulator, introduced in the works of Veremey E.I. as one of the elements of a special multi-purpose structure controller. Due to its structure, the speed controller gives for the closed-loop system the property of astatism for regulated variables, which means that the error between the actual motion and the desired trajectory converges to zero in the presence of step disturbances. In this work the controller that provides a quadrotor motion along a given trajectory, is based on four linear simplified mathematical models. Each of such simplified models describes the motion for one of the regulated variables and is used to design control law for each specific scalar regulated variable, that gives the astatism property for this variable. As a result the controller is formed to regulate the position in space and the yaw angle of quadrotor. In the end the paper presents graphs of transients of changes in position and orientation in the space under the action of the proposed control to illustrate its effectiveness; simulation is carried out in MATLAB-Simulink environment for a particular quadrotor model.

AB - The paper presents an approach to provide the motion of a quadrotor along a given trajectory under the influence of step perturbations. The proposed approach is based on the use of a speed regulator, introduced in the works of Veremey E.I. as one of the elements of a special multi-purpose structure controller. Due to its structure, the speed controller gives for the closed-loop system the property of astatism for regulated variables, which means that the error between the actual motion and the desired trajectory converges to zero in the presence of step disturbances. In this work the controller that provides a quadrotor motion along a given trajectory, is based on four linear simplified mathematical models. Each of such simplified models describes the motion for one of the regulated variables and is used to design control law for each specific scalar regulated variable, that gives the astatism property for this variable. As a result the controller is formed to regulate the position in space and the yaw angle of quadrotor. In the end the paper presents graphs of transients of changes in position and orientation in the space under the action of the proposed control to illustrate its effectiveness; simulation is carried out in MATLAB-Simulink environment for a particular quadrotor model.

KW - Astatism

KW - Control system design

KW - Dynamics

KW - Optimal control

KW - Quadrotor

KW - Speed control

KW - Stabilization

UR - http://www.scopus.com/inward/record.url?scp=85081046812&partnerID=8YFLogxK

U2 - 10.1007/978-3-030-37436-5_15

DO - 10.1007/978-3-030-37436-5_15

M3 - Conference contribution

AN - SCOPUS:85081046812

SN - 9783030374358

T3 - Communications in Computer and Information Science

SP - 163

EP - 174

BT - Convergent Cognitive Information Technologies - 3rd International Conference, Convergent 2018, Revised Selected Papers

A2 - Sukhomlin, Vladimir

A2 - Zubareva, Elena

PB - Springer Nature

T2 - 3rd International Scientific Conference on Convergent Cognitive Information Technologies, Convergent 2018

Y2 - 29 November 2018 through 2 December 2018

ER -