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Journal of Automation and Information Sciences
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ISSN Print: 1064-2315
ISSN Online: 2163-9337

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Journal of Automation and Information Sciences

DOI: 10.1615/JAutomatInfScien.v51.i2.10
pages 1-10

Optimization of Processes of Robust Control of Quadcopter for Monitoring of Sea Waters

Victor L. Timchenko
Admiral Makarov National University of Shipbuilding, Nikolaev
Denis O. Lebedev
Admiral Makarov National University of Shipbuilding, Nikolaev


The synthesis of robust-optimal control system for the multidimensional nonlinear model of a quadcopter, based on optimization of motion trajectories, is proposed. Taking into account incomplete a priori information about the external environment, a robust control loop is synthesized based on measuring the output coordinates of a physical quadcopter with the additional use of the signals, generated by an optimal (reference) control system of variable structure. The given results of simulation demonstrate minimal values of control errors and energy expenses.


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