Control Methods Design for a Model of Asymmetrical Quadrocopter

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.

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Opracowanie ze środków MNiSW w ramach umowy 812/P-DUN/2016 na działalność upowszechniającą naukę.