title: Ð¡Ð¸Ð½ÑÐµÐ· ÑÐ¿ÑÐ°Ð²Ð»ÑÑÑÐ¸Ñ Ð²Ð¾Ð·Ð´ÐµÐ¹ÑÑÐ²Ð¸Ð¹ Ð½Ð° ÐºÐ²Ð°Ð´ÑÐ¾ÐºÐ¾Ð¿ÑÐµÑ
title: Ð²ÑÐ¿ÑÑÐºÐ½Ð°Ñ ÐºÐ²Ð°Ð»Ð¸ÑÐ¸ÐºÐ°ÑÐ¸Ð¾Ð½Ð½Ð°Ñ ÑÐ°Ð±Ð¾ÑÐ° Ð±Ð°ÐºÐ°Ð»Ð°Ð²ÑÐ°
titleType: Subtitle
title: Synthesis of control actions on a quadrocopter
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: 2020
Subjects: ÐºÐ²Ð°Ð´ÑÐ¾ÐºÐ¾Ð¿ÑÐµÑ
ÑÐ¿ÑÐ°Ð²Ð»ÐµÐ½Ð¸Ðµ
ÑÐµÐ³ÑÐ»ÑÑÐ¾Ñ
Ð¼Ð¾Ð´ÐµÐ»Ñ
MATLAB
Ð»Ð¸Ð½ÐµÐ°ÑÐ¸Ð·Ð°ÑÐ¸Ñ
Ð³ÑÐ°ÑÐ¸Ðº
quadrocopter
control
regulator
model
linearization
graph

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description: The subject of the graduate qualification work is Â« Synthesis of control actions on a quadrocopterÂ». The given work is devoted to the analysis of the various control actions synthesized using optimal and stabilizing control. The research set the following goals: 1. The study of control methods and their features, as well as a review of the nonlinear quadrocopter model. 2. Linearization of the nonlinear quadrocopter model. 3. The synthesis of optimal control under various initial conditions for centralized and decentralized systems, as well as the estimation of the error of the solution. 4. Synthesis of stabilizing control and estimation of solution error. 5. Comparison of the synthesized control actions. The work was carried out using the MATLAB application package, where a significant part of the calculations was carried out. A model was created in the state space for which the parameters of the controller and observer were calculated using optimal control, as well as the parameters of the controller using stabilizing control. The operation of the regulators was tested on a given trajectory, with the help of which the error of the solution was estimated. Conclusions were drawn about the operation of control actions, based on the estimates obtained. As a result, a review of control methods and a nonlinear quadrocopter model was conducted. The model is linearized at a singular point. The optimal control was synthesized under various initial conditions for centralized and decentralized systems, as well as stabilizing control using the Sylvester equation. For each synthesized control, the error estimates of the solution were calculated, based on which the operation of the regulators was compared.