A CONTROL SYSTEM OF A HEXACOPTER WITH A GENERALIZED KINEMATIC SCHEME OF THE PROPELLER ARRANGEMENT

Abstract

A generalized kinematic scheme of the propeller arrangement on the hexacopter is considered, which embraces, as special cases, most of the known schemes. Analytical expressions for the matrices of cross-connections of the control system are derived. It is shown, that the introduction of a decoupling regulator compensates the cross-connections between separate channels. This allows to reduce the development of the hexacopter control system to the development of its independent channels on the basis of the classical control theory.