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Abstract <p>The development of a quadcopter angular motion control system with the transient response of traction motors is considered. Equations of motion for a two-dimensional model of the aircraft mounted on a gyroscopic rig are derived. The equations account for the displacement of the aircraft’s center of rotation relative to its center of mass and the transient response of the motors in the form of a first-order device response. A controller based on the structural synthesis method, which ensures the quadcopter attains a predetermined orientation, is proposed. The algorithm’s effectiveness is confirmed by the results of HIL simulation with the noise and time delays of a real aircraft.</p>

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Nonlinear Control System for Angular Motions of a Quadrotor

  • 期刊论文

  • 发表日期：

    2025年12月1日

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  • K. Yu. Kotov,
  • Yu. N. Zolotukhin,
  • E. V. Khodatovich,
  • A. P. Yan

摘要

Abstract

The development of a quadcopter angular motion control system with the transient response of traction motors is considered. Equations of motion for a two-dimensional model of the aircraft mounted on a gyroscopic rig are derived. The equations account for the displacement of the aircraft’s center of rotation relative to its center of mass and the transient response of the motors in the form of a first-order device response. A controller based on the structural synthesis method, which ensures the quadcopter attains a predetermined orientation, is proposed. The algorithm’s effectiveness is confirmed by the results of HIL simulation with the noise and time delays of a real aircraft.