Abstract
The paper describes matters of modeling and control of aerial vehicle in rotorcraft configuration. Equations of motion were derived and dynamic model of six-rotor was build. To find the best adjustment of model to real object the dynamics of the drives was joined to the control plant model. Trimming and linearization were performed. Open loop system and LQR controller were checked in simulation environment. Next the faults of the actuator/sensor elements were arranged and the minimal number of observed outputs and drives for LQR stabilization process were specified.
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