Numerical method for controlling the dynamics of rotation motion of a multirotor unmanned aerial vehicle

There is a numerical method presented that makes it possible to ensure the smoothness of the forming function defining the rotational motion of a multirotor unmanned aerial vehicle. Behavior of the generating function at the final integration step is investigated. The proposed method provides the formation of a rotational motion limited by the value of angular velocity with specified angular acceleration parameters. The numerical method was simulated when forming a virtual control signal for back-stepping control. The results of simulating the response to a step signal showed a decrease in consumed energy, an effective limitation of angular velocity and a significant decrease in the peak power consumption compared to the original back-stepping method with a slight increase in the transition process time. The values of virtual control parameters which ensure the formation of specified dynamic characteristics of the rotational motion of multirotor unmanned aerial vehicle were selected.