Control Algorithms for Quadcopter Motion in Dynamic Positioning Mode
arXiv:2605.153496.01 citations
Predicted impact top 75% in SY · last 90 daysOriginality Synthesis-oriented
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Incremental improvement for quadcopter control in dynamic positioning, offering a simplified tuning method.
The paper derives a complete quadcopter motion model for dynamic positioning and proposes two control algorithms: one generalizing prior work to varying yaw, and another with simplified tuning. No concrete performance numbers are provided.
A complete model of quadcopter motion for the task of dynamic positioning at a specified point is derived. Based on this model, two control algorithms are proposed. The first one generalizes previously obtained results to the case of a varying yaw angle. The second control algorithm addresses the above problem using a simplified regulator tuning methodology.