ALGORITHM FOR QUADCOPTER MOTION STABILIZATION TAKING INTO ACCOUNT DATA OF INERTIAL NAVIGATION SYSTEMF.A. ALIEV, O.A. SUSHCHENKO, M.M. MUTALLIMOV, N.G. JAVADOV, F.F. MAMMADOV, R.R. MAHARRAMOV (pp. 278-289)
Abstract.The algorithm for the synthesis of the optimal controller for the system stabilizing motion of the quadrotor is proposed. The algorithm is based on solving the linear quadratic Gaussian problem. The new feature of the developed algorithm is taking into consideration the data from the inertial navigation system. The numerical values of parameters for the proposed algorithm are determined. The represented algorithm is most convenient for application on quadrotors. The obtained results can be spread on to unmanned aerial vehicles of the wide class.
Keywords: unmanned aerial vehicles, quadrotor, stabilization motion, inertial navigation system, linear quadratic Gaussian problem.