Control Algorithms for Quadcopter Motion in Dynamic Positioning Mode
Stanislav Kim, Anton Pyrkin, Oleg Borisov
TL;DR
This paper develops a comprehensive quadcopter motion model for dynamic positioning and proposes two control algorithms, one extending previous results to variable yaw and another simplifying regulator tuning.
Contribution
It introduces two novel control algorithms for quadcopters in dynamic positioning, including a generalization for yaw variation and a simplified tuning approach.
Findings
The model accurately describes quadcopter motion in dynamic positioning tasks.
The first control algorithm extends existing methods to variable yaw angles.
The second control algorithm simplifies regulator tuning for practical implementation.
Abstract
A complete model of quadcopter motion for the task of dynamic positioning at a specified point is derived. Based on this model, two control algorithms are proposed. The first one generalizes previously obtained results to the case of a varying yaw angle. The second control algorithm addresses the above problem using a simplified regulator tuning methodology.
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