Library Subscription: Guest
Begell Digital Portal Begell Digital Library eBooks Journals References & Proceedings Research Collections
Journal of Automation and Information Sciences
SJR: 0.275 SNIP: 0.59 CiteScore™: 0.8

ISSN Print: 1064-2315
ISSN Online: 2163-9337

Volume 52, 2020 Volume 51, 2019 Volume 50, 2018 Volume 49, 2017 Volume 48, 2016 Volume 47, 2015 Volume 46, 2014 Volume 45, 2013 Volume 44, 2012 Volume 43, 2011 Volume 42, 2010 Volume 41, 2009 Volume 40, 2008 Volume 39, 2007 Volume 38, 2006 Volume 37, 2005 Volume 36, 2004 Volume 35, 2003 Volume 34, 2002 Volume 33, 2001 Volume 32, 2000 Volume 31, 1999 Volume 30, 1998 Volume 29, 1997 Volume 28, 1996

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.


  1. Kuntsevich V.M., Synthesis of robust optimal adaptive control systems for nonstationary objects under bounded disturbances, Journal of Automation and Information Sciences, 2004, 36, No. 3, 14–24. DOI: 10.1615/JAutomatInfScien.v36.i3.20

  2. Horowitz I., Survey of quantitative feedback theory (QFT), International Journal of Robust and Non-Linear Control, 2001, 11, No. 10, 887–921. DOI: 10.1002/rnc.637

  3. Altug E., Ostrowski J.P., Taylor C.J., Control of a quadrotor helicopter using dual camera visual feedback, The International Journal of Robotics Research, 2005, 24, No. 5, 329–341. DOI: 10.1177/ 0278364905053804

  4. Pyrkin A.A., Maltseva T.A., Labadin D.V., Surov M.O., Bobtsov A.A., Synthesis of quadcopters control systems using a simplified mathematical model, Izvestiya VUZov, Priborostroyenie, 2013, 56, No. 4, 47–51.

  5. Leira P.S., Johansen Т.А , Fossen T.I., Automatic detection, classification and tracking of objects in the ocean surface from UAVs using a thermal camera, Proceeding of Aerospace Conf., 2015, 1–10. DOI: 10.1109/AERO.2015.7119238

  6. Larin V.B., Tunik A.A., Synthesis of the quad-rotor flight control system, Proceeding of IEEE 4th International Conference “Methods and Systems of Navigation and Motion Control”, Ukraine, Kiev, 2016, 12–17. DOI: 10.1109/MSNMC.2016.7783095

  7. Andreev M.A., Miller В., Miller B.M., Stepanyan K.V., Path planning for unmanned aerial vehicle under complicated conditions and hazards, International Journal of Computer and Systems Sciences, 2012, 51, No. 2, 328–338. DOI: 10.1134/S1064230712010030

  8. Timchenko V.I., Ukhin O.A., Lebedev D.O., Optimization of nonlinear systems of variable structure for control of marine moving vehicles, Ibid., 2017, 49, No. 7, 33–47. DOI: 10.1615/JAutomatInfScien. v49.i7.30

  9. Timchenko V.L., Lebedev D.O., Kuklina K.A., Timchenko I.V., “Actual Problems of Unmanned Aerial Vehicles Development”, K., 2017, 192–196. DOI: 10.1109/ APUAVD.2017.8308807

  10. Timchenko V.L., Lebedev D.O., Optimization of stabilization processes of quadcopter for maritime traffic’s monitoring, Electronics and Control Systems, K., 2017, 3, No. 53, 32–38. DOI: 10.18372/ 1990-5548.53.12140

Articles with similar content:

Synthesis of Locally Optimal Control by Using Generalized Probability Criterions
Journal of Automation and Information Sciences, Vol.31, 1999, issue 7-9
Sergey V. Sokolov, Igor V. Scherban
Multicriterion Optimization of Management of the Packet Switching Network
Telecommunications and Radio Engineering, Vol.67, 2008, issue 1
I. V. Svyd, I. V. Korsun, V. M. Bezruk
Accelerated Algorithms of Processing Non-Correlated Radar Portraits of Objects Under Different Jamming Conditions
Telecommunications and Radio Engineering, Vol.54, 2000, issue 8-9
S. R. Geister, S. V. Shalyapin
State Modeling and Estimation of Controllable Noisy Markov Chains
Telecommunications and Radio Engineering, Vol.62, 2004, issue 7-12
A. A. Ilyukhin, V. M. Terentiev
Identification of Models of Dynamics of Blocks of Sensitive Elements of SINS
Journal of Automation and Information Sciences, Vol.30, 1998, issue 6
Leonid N. Blokhin, M. Yu. Burichenko, O. P. Krivonosenko