title: Ð¡Ð¸Ð½ÑÐµÐ· ÑÐ¿ÑÐ°Ð²Ð»ÐµÐ½Ð¸Ñ Ð´Ð²Ð¸Ð¶ÐµÐ½Ð¸ÐµÐ¼ ÐºÐ²Ð°Ð´ÑÐ¾ÐºÐ¾Ð¿ÑÐµÑÐ° Ð¿Ð¾ Ð·Ð°Ð´Ð°Ð½Ð½Ð¾Ð¹ ÑÑÐ°ÐµÐºÑÐ¾ÑÐ¸Ð¸ Ð½Ð° Ð¾ÑÐ½Ð¾Ð²Ðµ Ð½ÐµÐ»Ð¸Ð½ÐµÐ¹Ð½Ð¾Ð¹ Ð¼Ð¾Ð´ÐµÐ»Ð¸
title: Ð²ÑÐ¿ÑÑÐºÐ½Ð°Ñ ÐºÐ²Ð°Ð»Ð¸ÑÐ¸ÐºÐ°ÑÐ¸Ð¾Ð½Ð½Ð°Ñ ÑÐ°Ð±Ð¾ÑÐ° Ð¼Ð°Ð³Ð¸ÑÑÑÐ°
titleType: Subtitle
title: Synthesis of the control of quadcopter motion along a given trajectory based on a nonlinear model
Creators: name: ÐÐµÑÐ·Ð»ÑÐºÐ¾Ð², ÐÐ¸ÑÐ¸Ð»Ð»
Publisher: name: Ð¡Ð°Ð½ÐºÑ-ÐÐµÑÐµÑÐ±ÑÑÐ³ÑÐºÐ¸Ð¹ Ð¿Ð¾Ð»Ð¸ÑÐµÑÐ½Ð¸ÑÐµÑÐºÐ¸Ð¹ ÑÐ½Ð¸Ð²ÐµÑÑÐ¸ÑÐµÑ ÐÐµÑÑÐ° ÐÐµÐ»Ð¸ÐºÐ¾Ð³Ð¾
Year: 2022
Subjects: ÐÐ²Ð°Ð´ÑÐ¾ÐºÐ¾Ð¿ÑÐµÑÑ
ÐÐ¾Ð´ÐµÐ»Ð¸ÑÐ¾Ð²Ð°Ð½Ð¸Ðµ
Ð½ÐµÐ»Ð¸Ð½ÐµÐ¹Ð½Ð°Ñ Ð¼Ð¾Ð´ÐµÐ»Ñ
ÑÑÐ°ÐµÐºÑÐ¾ÑÐ½Ð¾Ðµ ÑÐ¿ÑÐ°Ð²Ð»ÐµÐ½Ð¸Ðµ
Ð¿ÑÐ¾Ð³ÑÐ°Ð¼Ð¼Ð½Ð¾Ðµ ÑÐ¿ÑÐ°Ð²Ð»ÐµÐ½Ð¸Ðµ
ÑÑÐ°Ð±Ð¸Ð»Ð¸Ð·Ð¸ÑÑÑÑÐµÐµ ÑÐ¿ÑÐ°Ð²Ð»ÐµÐ½Ð¸Ðµ
non-linear model
trajectory control
program control
stabilizing control

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description: The subject of the graduate qualification work is Â«Synthesis of the control of quadcopter motion along a given trajectory based on a nonlinear modelÂ». This work is devoted to the synthesis of quadcopter motion control based on solutions of the linear Sylvester matrix equation and linear matrix inequalities. Tasks that were solved during the study: Generate a nonlinear model in moving and fixed coordinate systems. Study of foreign and domestic literature. Study of the own dynamics of a quadcopter based on a model in a moving coordinate system and identifying the presence of instability and chaotic dynamics. Synthesize the trajectory control of quadcopter motion and conducting a numerical experiment. Analysis of the obtained results. The work was carried out using one of the most powerful data processing packages MATLAB, with the help of which the control was synthesized and a numerical experiment was implemented. Based on the data obtained, an estimate of the solution error, errors in coordinates, and a utility function were calculated. As a result, a nonlinear model of a quadrocopter was formed. An algorithm for the synthesis of program control is presented, which ensures the movement of a quadrocopter along a given trajectory. The stabilizing part of the control is synthesized, which ensures that the quadrocopter is kept on a given trajectory. Comparison of the obtained results was carried out according to several criteria.