A PROBLEM OF OPTIMAL STABILIZATION OF A QUADCOPTER UAV FLIGHT
Journal Title: Հայաստանի գիտությունների ազգային ակադեմիայի տեղեկագիր․ Մեխանիկա - Year 2019, Vol 72, Issue 2
Abstract
This paper discusses an optimal stabilization problem of a quadcopter unmanned aerial vehicle (UAV). The dynamics of the UAV is presented and the linear time invariant (LTI) model of it is considered. The controllability of the LTI model is checked and an optimal stability problem is defined and solved for the LTI system using Lyapunov-Bellman method. The Lyapunov optimal function and optimal control inputs are gained. The graphs of optimal control inputs and optimal trajectories are constructed and presented.
Authors and Affiliations
A. S. Shahinyan
Equations of analytical mechanics for material systems with variable discontinous characteristics.
c
On constitutive relations in the mechanics of multimodulus materials.
c
On forced longitudinal vibrations of a cylinder with stresses prescribed on the surface.
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On some systems of integral equations of the first kind occurring in the theory of elasticity and in mathematical physics.
c
Particularities for determination stress state components of large radius curvature ring expansion process
The peculiarities for determining the current interconnected geometrical parameters of large diameter ring expansion process are revealed. Based on ring stress state studies the universal system of equations is obtained....