The solving of inverse problem for the computation of control action for quadrocopter
Abstract:
This article is deals with a solution of the inverse problem of dynamics for an unmanned aerial vehicle - quadrocopter. This article is based on the system of differential equations describing the motion of the robot which was published previously. Taking into account the limited control actions, we got the limits limits on the possible acceleration of the system. In this work we studied analytically such aerobatics as flight in a circle, slide, flying in a vertical spiral and others. Besides a numerical simulation algorithm was described. Using this algorithm we obtained the graphics of quadrocopters motion and control actions for each trajectory. It is shown that using the solution of inverse dynamics problem we can find the control for complex trajectory, including aerobatics.
Keywords:
quadrotor, inverse problem, algorithm of control, flight in a circle
