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Algorithms and Architecture of the Multirotor Aircraft Trajectory Motion Control System

  • COMPUTATIONAL AND DATA ACQUISITION SYSTEMS
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Optoelectronics, Instrumentation and Data Processing Aims and scope

Abstract

A control algorithm based on the required differential equations of deviations is proposed to solve the problem of tracing the desired trajectory by target position. The flight path is planned on the basis of the author’s method of calculation of a flat trajectory consisting of oriented segments of straight lines connected by Euler spirals. The software and hardware complex of the automatic flight control system is presented. The operability of the control system in the presence of measurement noises and external disturbances is confirmed by the results of experiments to control the flight of a quadcopter indoors.

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Funding

This work was supported by the Ministry of Science and Higher Education of the Russian Federation, project no. AAAA-A17-117060610006-6.

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Authors and Affiliations

  1. Institute of Automation and Electrometry, Siberian Branch, Russian Academy of Sciences, 630090, Novosibirsk, Russia

    K. Yu. Kotov, A. S. Mal’tsev, A. A. Nesterov & A. P. Yan

Authors
  1. K. Yu. Kotov
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  2. A. S. Mal’tsev
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  3. A. A. Nesterov
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  4. A. P. Yan
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Corresponding authors

Correspondence to K. Yu. Kotov or A. P. Yan.

Additional information

Translated by O. Pismenov

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Kotov, K.Y., Mal’tsev, A.S., Nesterov, A.A. et al. Algorithms and Architecture of the Multirotor Aircraft Trajectory Motion Control System. Optoelectron.Instrument.Proc. 56, 228–235 (2020). https://doi.org/10.3103/S8756699020030085

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  • DOI: https://doi.org/10.3103/S8756699020030085

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