Improving the Reliability of the Control System of a Quadcopter

The problem of increasing the reliability of the control system of a quadcopter by introducing a dynamic observer is solved. This problem has been thoroughly analyzed for an algorithm of control of motion along the y-axis. It is obvious that a similar approach can be used to control motion along the x-axis. In such a problem statement, the procedure used to choose of the gains is unconventional. The inverse problem of synthesis of the optimal controller is solved. It is shown by way of an example that the dynamic characteristics of a closed system with dynamic observers hardly differs from those of a system without dynamic observers.