Improving The Rapidity Of A Quadrocopter Interacting By The Thermal Motion Equivalent Method In A Swarm
Eduard A. Heiss, Oleg O. Morozov, Kristina Okina, Andrey G. Efromeev · 2023
Nowadays there are many methods of a swarm control. One of them is the Thermal Motion Equivalent Method. One of the main objectives of the method development is to stabilise the velocity amplitude of the agent - in this paper a quadrocopter. The modal controller is developed using a linear model of the quadrocopter under the condition of a small angle of its deviation from the vertical, which imposes a limitation on the speed of the agent and therefore does not allow to increase the efficiency of the tasks solved by the swarm. As the performance of the quadrocopter increases, the amplitude of the quadrocopter’s speed becomes unstable, as the geometric nonlinearities of the kinematic relations, the nonlinearity of the quaternionic orientation controller and the inertia of the propeller-motor groups begin to influence the controller’s operation. This paper proposes a variant of nonlinearity compensation and presents the results of numerical modelling showing the performance of the proposed compensators.