- PII
- S30346444S0002338825020083-1
- DOI
- 10.7868/S3034644425020083
- Publication type
- Article
- Status
- Published
- Authors
- Volume/ Edition
- Volume / Issue number 2
- Pages
- 109-124
- Abstract
- The problem of reference trajectories tracking for spatial motion of a quadcopter as a rigid body is considered. The state feedback linearization approach is used for synthesis of stabilizing control. The reference trajectory is constructed for three coordinates of the spatial motion of the quadcopter’s center of mass and its rotational motion along the yaw angle based on third-order polynomials depending on time, taking into account constraints on the coordinates, velocities and accelerations during the entire process of motion. The performance of the proposed control law is verified numerically and experimentally on the Parrot Mambo quadcopter model using the MATLAB/Simulink software.
- Keywords
- линеаризация обратной связью по состоянию программная траектория стабилизация управление механическими системами квадрокоптеры
- Date of publication
- 24.02.2025
- Year of publication
- 2025
- Number of purchasers
- 0
- Views
- 18
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