Control of Flight Parameters of a Quadrotor Vehicle Moving over a Given Trajectory

摘要

The problem of control of an autonomous unmanned aerial vehicle with vertical takeoff and landing, which moves over a trajectory specified in the coordinate space, is considered. A method of constructing a system of automatic control of quadrotor vehicle takeoff and flight is proposed. Analytical relations for control actions on four engines that ensure vehicle motion over a prescribed trajectory with desired values of altitude and velocity are derived.