Algorithm of Processing Navigation Information in Systems of Quadrotor Motion Control

Algorithm of Processing Navigation Information in Systems of Quadrotor Motion Control

Автор: Anatoly Tunik, Olha Sushchenko, Svitlana Ilnytska

Журнал: International Journal of Image, Graphics and Signal Processing @ijigsp

Статья в выпуске: 1 vol.15, 2023 года.

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The article deals with creating an algorithm for processing information in a digital system for quadrotor flight control. The minimization of L2-gain using simple parametric optimization for the synthesis of the control algorithm based on static output feedback is proposed. The kinematical diagram and mathematical description of the linearized quadrotor model are represented. The transformation of the continuous model into a discrete one has been implemented. The new optimization procedure based on digital static output feedback is developed. Expressions for the optimization criterion and penalty function are given. The features of the creating algorithm and processing information are described. The development of the closed-loop control system with an extended model augmented with some essential nonlinearities inherent to the real control plant is implemented. The simulation of the quadrotor guidance in the turbulent atmosphere has been carried out. The simulation results based on the characteristics of the studied quadrotor are represented. These results prove the efficiency of the proposed algorithm for navigation information processing. The obtained results can be useful for signal processing and designing control systems for unmanned aerial vehicles of the wide class.

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Quadrotor, Processing information, Digital control algorithm, Parametric optimization, Static output feedback, Static state feedback, Simulation, Turbulence

Короткий адрес: https://sciup.org/15018740

IDR: 15018740   |   DOI: 10.5815/ijigsp.2023.01.01

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