naa a22 4500 510809677 CHVBK 20180411083436.0 cr unu---uuuuu 180411e20131101xx s 000 0 eng 10.1134/S1064230713060038 doi (NATIONALLICENCE)springer-10.1134/S1064230713060038 Stabilization of desired motion of a quadrotor helicopter [Elektronische Daten] [F. Baklanov, V. Morozov] In this paper, a problem of constructing a control law for a quadrotor helicopter—a fourrotor helicopter is considered. The classical design of this vehicle contains a four-way frame, at which nodes electric motors with propellers rigidly mounted on their axles. An approach to solving the problem is proposed, based on application of the method of two-level control, according to which the required control is constructed in the form of the sum of a desired control and an additional feedback stabilizing the zero solution of the system of equations in deviations from the desired motion. The complete controllability of the nonstationary linear system in deviations is strictly proved. For constructing a stabilizing feedback, a known solution of the problem on linear controller with quadratic cost function is used. The proposed approach makes it possible to develop a general numerical method for constructing a control that provides a stable motion of the quadrotor helicopter along arbitrary smooth three-dimensional trajectories. Pleiades Publishing, Ltd., 2013 Baklanov F. Institute of Mechanics, Moscow State University, Michurinskii pr. 1, 117192, Moscow, Russia aut Morozov V. Institute of Mechanics, Moscow State University, Michurinskii pr. 1, 117192, Moscow, Russia aut Journal of Computer and Systems Sciences International Springer US; http://www.springer-ny.com 52/6(2013-11-01), 955-962 1064-2307 52:6<955 2013 52 11488 https://doi.org/10.1134/S1064230713060038 text/html Onlinezugriff via DOI 1 research-article jats NATIONALLICENCE 856 40 https://doi.org/10.1134/S1064230713060038 text/html Onlinezugriff via DOI NATIONALLICENCE 700 1- Baklanov F. Institute of Mechanics, Moscow State University, Michurinskii pr. 1, 117192, Moscow, Russia aut NATIONALLICENCE 700 1- Morozov V. Institute of Mechanics, Moscow State University, Michurinskii pr. 1, 117192, Moscow, Russia aut NATIONALLICENCE 773 0- Journal of Computer and Systems Sciences International Springer US; http://www.springer-ny.com 52/6(2013-11-01), 955-962 1064-2307 52:6<955 2013 52 11488 Metadata rights reserved Springer special CC-BY-NC licence nationallicence BK010053 XK010053 XK010000 NATIONALLICENCE NATIONALLICENCE NL-springer