SLIDING MODE CONTROL OF A 4 Y OCTOROTOR

Lucrarea prezintă o metodă de control neliniar, mai exact sliding mode, care este aplicată pentru un vehicul octorotor de tip 4Y. Acesta constituie o extensie a popularului model cu patru rotoare. Dublarea numărului de actuatoare poate duce la o creştere a siguranţei în exploatare şi a capacităţii de încărcare. Legile de control pentru stabilizare şi navigaţie aplicate asupra modelului dinamic neliniar al octorotorului sunt testate cu ajutorul simulărilor numerice. Capabilitatea de respingere a incertitudinii legate de masă este de asemenea investigată.

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