Algorithms and Architecture of the Multirotor Aircraft Trajectory Motion Control System

Abstract

A control algorithm based on the required differential equations of deviations is proposed to solve the problem of tracing the desired trajectory by target position. The flight path is planned on the basis of the author’s method of calculation of a flat trajectory consisting of oriented segments of straight lines connected by Euler spirals. The software and hardware complex of the automatic flight control system is presented. The operability of the control system in the presence of measurement noises and external disturbances is confirmed by the results of experiments to control the flight of a quadcopter indoors.