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The controllability analysis of a quadcopter linear mathematical model by the Kalman and Lie criteria

100%

Gudzenko O.

tom z. 76

39--42

The paper presents the controllability analysis of the quadcopter linear mathematical model using Kalman and Lie criteria. Kalman criterion is applicable for linear object, and Lie criterion is used for nonlinear object, but with linear control in object. In the paper, using the quadcopter model as an example, it is shown the complexity of the mathematical calculations of the controllability matrix is higher by Lie criterion than with the using Kalman criterion. However, Lie criterion is more universal.

Synthesis of adaptive control for quadcopter

100%

Gudzenko O.

2017

tom z. 75

25--26

In the paper, the problem of adaptive control of the asymmetric quadcopter’s motion along a given trajectory was solved. In addition, a recursive method for identifying model parameters was chosen. The methods were compared by standard deviation based on the criterion of inaccurate knowledge of the model’s parameters. The paper shows that the method works effectively in the selected conditions.

Synthesis of control for the implementation Of the quadcopter aggressive maneuvers

100%

Gudzenko O.

tom z. 72

23--26

This paper describes a problem of quadcopter’s control for an implementation of “eight-shape” aggressive maneuver. The maneuver was realized with use linear-quadratic regulator, inverse dynamics control and full state feedback. In this paper these methods are compared in area of the control accuracy and energy consumption. Obtained results allow us to make recommendations for the application of considered methods. The research will help designers to correctly calculate quadcopter’s opportunities to implement aggressive maneuvers. The developed software package allows us to demonstrate the movement of quadcopter in flight.

Control Methods Design for a Model of Asymmetrical Quadrocopter

63%

Beniak R. , Gudzenko O.

Journal of Automation Mobile Robotics and Intelligent Systems

2016

tom Vol. 10, No. 2

40--49

The paper describes the results of quadrocopters motion properties for the control based on the inverse dynamics method and optimal control method with synthesis linear-quadratic regulator (LQR). Motion of quadrocopters is tested for composite trajectories. The new model of asymmetrical quadrocopters, taking into account the rotation and shift of one arm relative to the other, was developed. A few criteria for evaluation of the effectiveness of control methods of quadrocopters are presented in this paper. An analysis of the results allows selecting a method for solving the problem of quadrocopters control and making recommendations for the formation of trajectories.