Authors A.S. Melnichenko, V.A. Shel, S.V. Kirilchik
Month, Year 02, 2015 @en
Index UDC 519.7
Abstract The relevance of this article based on the fact that progress in the field of microelectronics and computer technology has made possible the production of small unmanned aerial vehicle that can be cheap to produce and easy to use in the case of mass production. Reliability and flexibility are the main advantages of robotic systems, and the use of small unmanned aerial vehicle (UAV) presents a significant opportunity for unmanned aircraft. The purpose of writing of this article is research of the adequacy of the description of physical actions on the object and use of standard controller for control of quadrotor. Solution of problem of control of quadrotor as unmanned aerial vehicles (UAV) is advantageously carried out by methods of classical automatic control theory. The control system is based on a known mathematical model and the regulator. The solution of this problem will be successful if global asymptotic stability of the closed control system is provided that isn"t always provided or due to the lack of adequate mathematical model, or because of unsuccessfully picked up regulator. The solution of control of flight control of a quadrotor in this article is carried out as follows. The aspects of the automatic control of the UAV was considered such as regulation and orientation in space. The mathematical model conclusion was given in a basis on an Euler-Lagrange formalism. Control analysis of a quadrotor with PID and cascade circuit PDD2 management was implemented. It was also produced computer simulations PID controller and system PDD2 and conclusions about the suitability of the control laws. Research which gave the chance to estimate quality of regulation of the unmanned aerial vehicle are result of this article, and also on the basis of the received mathematical model the physical model by means of which it is possible to investigate process of management of a quadrotor is constructed.

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Keywords Quadrotor; control; computer modeling; PID controller; PDD2 controller; mathematical model; unmanned aerial vehicle.
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