publication . Article . 2017

Отслеживание программного изменения углового положения квадрокоптера

T. V. Glazkov; A. E. Golubev;
Open Access Russian
  • Published: 01 Nov 2017 Journal: Matematika i Matematičeskoe Modelirovanie (issn: 2412-5911, Copyright policy)
  • Publisher: MGTU im. N.È. Baumana
The paper dwells on tracking the quad-copter angular position with desired quality parameters of transient processes. The aerial vehicle is considered as a rigid body with six degrees of freedom.  A full rigid body quad-copter mathematical model is considered without the assumption of smallness of the Euler angles. Among the most well known methods of non-linear stabilization are feedback linearization and backstepping. The backstepping approach allows us to have an effective solution of the stabilization problems with uncertainties available in the system. However, in synthesis of the feedback through backstepping, there is still an urgent issue: how to ensure ...
free text keywords: quadcopter, stabilization, feedback linearization, backstepping, simulation, control, Mathematics, QA1-939
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