Real-time quadrocopter optimal stabilization

Quadrocopters (UAV with four rotors rotating diagonally in opposite directions) have a special place in UAV family. The main reasons are the possibility to easily control and maneuverability. Also quadrocopters have a low manufacturing cost and small takeoff weight. The necessity to stabilize the flight of quadrocopter follows from the principle of its operation. In this paper a system of nonlinear differential equations with control parameters that describe the flight of quadrocopter is considered. The linearization of nonlinear controlled system is constructed and description of proposals for the use of numerical method for real-time control synthesis is suggested. The possibilities of this approach are illustrated on a particular example.