Quadcopter spatial motion trajectories construction and tracking

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Abstract

The problem of reference trajectories tracking for spatial motion of a quadcopter as a rigid body is considered. The state feedback linearization approach is used for synthesis of stabilizing control. The reference trajectory is constructed for three coordinates of the spatial motion of the quadcopter’s center of mass and its rotational motion along the yaw angle based on third-order polynomials depending on time, taking into account constraints on the coordinates, velocities and accelerations during the entire process of motion. The performance of the proposed control law is verified numerically and experimentally on the Parrot Mambo quadcopter model using the MATLAB/Simulink software.

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About the authors

А. Е. Golubev

Bauman Moscow State Technical University

Author for correspondence.
Email: v-algolu@hotmail.com
Russian Federation, Moscow

A. A. Khorosheva

Moscow Institute of Physics and Technology

Email: khorohevaann@gmail.com
Russian Federation, Moscow

S. A. Vasenin

Moscow Institute of Physics and Technology

Email: stepan_vasenin@mail.ru
Russian Federation, Moscow

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Supplementary files

Supplementary Files
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1. JATS XML
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2. Fig. 1. Schematic representation of the program trajectory along the coordinate (solid line), including additional intermediate points.

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3. Fig. 2. Movement of the apparatus’s center of mass along the x coordinate: program trajectory (dotted line), stabilization (dashed line) and experiment (solid line).

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4. Fig. 3. The speed of movement of the center of mass along the x coordinate: program trajectory (dotted line), stabilization (dashed line) and experiment (solid line).

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5. Fig. 4. Movement of the apparatus’s center of mass along the y coordinate: program trajectory (dotted line), stabilization (dashed line) and experiment (solid line).

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6. Fig. 5. The speed of movement of the center of mass along the y coordinate: program trajectory (dotted line), stabilization (dashed line) and experiment (solid line).

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7. Fig. 6. Movement of the apparatus’s center of mass along the z coordinate: program trajectory (dotted line), stabilization (dashed line) and experiment (solid line).

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8. Fig. 7. The speed of movement of the center of mass along the z coordinate: program trajectory (dotted line), stabilization (dashed line) and experiment (solid line).

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9. Fig. 8. Rotational motion along the yaw angle ψ: program trajectory (dotted line), stabilization (dashed line) and experiment (solid line).

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10. Fig. 9. Angular velocity: program trajectory (dotted line), stabilization (dashed line) and experiment (solid line).

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11. Fig. 10. Rotational motion at pitch angle θ: stabilization (dashed line) and experiment (solid line).

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12. Fig. 11. Angular velocity: stabilization (dashed line) and experiment (solid line).

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13. Fig. 12. Rotational motion at the bank angle φ: stabilization (dashed line) and experiment (solid line).

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14. Fig. 13. Angular velocity: stabilization (dashed line) and experiment (solid line).

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15. Fig. 14. The program trajectory of the motion of the center of mass of the apparatus in space (dotted line), stabilization (dashed line) and experiment (solid line).

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16. Supplement
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