Construction of quadrocopter programmed motion in a flat labyrinth
Alexey E. Golubev, Nay Thway, А. В. Горбунов, А. П. Крищенко, Nadezhda V. Utkina · AIP conference proceedings · 2019
In this note we deal with control of a quadrocopter in a horizontal plane under state constraints in the form of a labyrinth. An algorithm to construct the programmed motion of the quadrocopter in a flat labyrinth is proposed. A full rigid body model of the flying vehicle that doesn’t assume smallness of the Euler angles is considered. For synthesis of the control the nonlinear dynamics inversion approach is used. Numerical simulation results are given.