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
Keywords
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