Abstract:
Today, there are a large number of tasks that can not be performed by a single unmanned aerial vehicle. In this case, the use of a group of unmanned aerial vehicles is a good solution. These tasks include
the task of mapping the area, work in the field of technogenous (human-caused) or natural disasters,
monitoring and processing of agricultural land, the study in real time remote areas. In terms of a megapolis a group of aircraft can be used to create panoramic views, and tracking the dynamics of traffic
jams. A group of unmanned aerial vehicles can be used for express cargo transportation, a group of unmanned aerial vehicles can be used in mineral exploration tasks.
In this paper we consider the problem of joint movement of several unmanned aerial vehicles
based on rigid links. The method of linear-quadratic regulation is applied. The movement of a group
of drones is modeled by the method of leader-follower and the method of RD control with linear –
quadratic regulation is applied. An algorithm for constructing an optimal control system for a tightly
coupled group of quadcopters is developed. To solve the problem it is proposed to use the method of
linear-quadratic regulation.
The mathematical model of the system of quadcopters with rigid connection is constructed. The
graphs show the results of modeling the system of rigid-coupled quadcopters.
Keywords:unmanned aerial vehicle, linear-quadratic regulation, quadcopter (quadrotor), Euler angles, moving coordinate system, moment of inertia.
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