The Multicopter Control Algorithms with Unstable Modes

In the paper, the solution of the drive control problem for a multicopter-type moving object in an uncertain environment with obstacles is considered. The moving object is represented by a multicopter. Its mathematical model is based on equations of kinematics and dynamics of 6DOF in relation to steady-state propellers characteristics. The control algorithms for moving to the target point are presented. This work offers the obstacle avoiding control algorithms used for moving an object to target points that are based on the usage of unstable modes. The correction of the multicopter's movement is carried out using dynamic variables. The effectiveness of suggested algorithms is proved by simulation results and experimental studies.