novtexmechМехатроника, автоматизация, управлениеMekhatronika, Avtomatizatsiya, Upravlenie1684-64272619-1253Commercial Publisher «New Technologies»10.17587/mau.26.306-315novtexmech-1772Research ArticleДИНАМИКА, БАЛЛИСТИКА, УПРАВЛЕНИЕ ДВИЖЕНИЕМ ЛЕТАТЕЛЬНЫХ АППАРАТОВDYNAMICS, BALLISTICS AND CONTROL OF AIRCRAFTАлгоритмизация следящего управления движением квадрокоптера с гарантированным быстродействием методом функций ЛяпуноваAlgorithm for Finite-Time Tracking Control of Quadcopter Motion Using the Lyapunov Function MethodНгуенЧ. С.NguyenC. X.

Канд. техн. наук, зав. кафедры автоматизации и вычислительной техники 

Ханой 

Ph.D., Lecturer of the Department "Automation and Computing Techniques" 

236 Hoang Quoc Viet Street, Hanoi 

chiemnx@mta.edu.vnФамФ. К.PhamP. Q.

Аспирант 

Москва

Moscow, 105005 

hvktqs1421996@gmail.comТехнический университет Ле Куи ДонВьетнамLe Quy Don Technical UniversityViet NamМосковский государственный технический университет имени Н. Э. БауманаРоссияBauman Moscow State Technical UniversityRussian Federation202505062025266306315Copyright © Commercial Publisher «New Technologies», 20252025Commercial Publisher «New Technologies»Commercial Publisher «New Technologies»https://mech.novtex.ru/jour/about/submissions#copyrightNoticehttps://mech.novtex.ru/jour/article/view/1772

Представлена методика синтеза закона следящего управления движением квадрокоптера с гарантированным быстродействием. Динамическая модель квадрокоптеров представляет собой сложную систему с шестью степенями свободы. Для синтеза закона управления для системы сначала строится архитектура управления, а затем выводятся законы управления для каждой подсистемы. Свойство сходимости каждого закона управления обеспечивается за счет использования виртуальной системы в виде системы со строгой обратной связью, которая применяется для синтеза законов управления. Закон управления выводится с помощью диффеоморфизма между подсистемой и виртуальной системой. Сходимость гарантируется с помощью специальной функции Ляпунова. Результаты моделирования подтверждают эффективность разработанных законов управления.

This paper presents a technique for synthesizing a finite-time tracking control law, based on the Lyapunov function, for quadcopters. The dynamic model of quadcopters is an underactuated system with six degrees of freedom. To synthesize a control law for the system, a control architecture is first constructed, followed by the derivation of control laws for each subsystem. The convergence property of each control law is ensured through the use of a virtual system in the form of a strict-feedback system, which is employed to synthesize the control laws. The control law is derived via a diffeomorphism between the subsystem and the virtual system. The finite-time convergence property is guaranteed using a special Lyapunov function. Simulation results validate the effectiveness of the designed control laws.

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The authors declare that there are no conflicts of interest present.