SYNTHESIS OF THE QUAD-ROTOR CONTROL ALGORITHMS IN THE BASIC FLIGHT MODESVLADIMIR B. LARIN, ANATOLY A. TUNIK (pp. 147-158)
The synthesis of the quad-rotor control algorithms in the basic flight modes is considered. These include the basic modes of the horizontal quad-rotor flight: position control, cruise speed control and reference path tracking. The control algorithms are designed using traditional optimization procedures including also some specific optimization procedures likewise singular optimization problem solution for cruise speed control synthesis and introducing phase lead in the control algorithm in order to improve the path tracking performance. The efficiency of the proposed algorithms and the comparison of results obtained in this paper with results of other authors are illustrated by examples.
quad-rotors, optimal control, linear control, path tracking, phase lag compensation.