DEVELOPING A CONTROL SYSTEM OF A QUADROCOPTER  WITH A DECOUPLING REGULATOR

O.N. GASPARYAN; G.G. YEGHIAZARYAN; H.G. DARBINYAN; L.M. BUNIATYAN

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O.N. GASPARYAN National Polytechnic University of Armenia Author
G.G. YEGHIAZARYAN National Polytechnic University of Armenia Author
H.G. DARBINYAN National Polytechnic University of Armenia Author
L.M. BUNIATYAN National Polytechnic University of Armenia Author

Keywords:

quadrocopter kinematics, cross-connections, multivariable control system, external disturbances, decoupling regulator

Abstract

The issues of developing a mathematical model of a control system of a quadrocopter are considered, taking into account the dynamics of brushless DC motors. It is shown that the introduction of a matrix decoupling regulator into the system allows eliminating rigid cross-connections between control channels. As a result, the development of the control system of the quadrocopter is reduced to the development of separate channels on the basis of methods of the classical feedback control. A numerical example design is given.

DEVELOPING A CONTROL SYSTEM OF A QUADROCOPTER WITH A DECOUPLING REGULATOR

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