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arXiv · 2605.15349

Control Algorithms for Quadcopter Motion in Dynamic Positioning Mode

Stanislav Kim·Anton Pyrkin·Oleg Borisov
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Abstract

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.

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Stanislav Kim, Anton Pyrkin, Oleg Borisov. 2026-05-14. Control Algorithms for Quadcopter Motion in Dynamic Positioning Mode. https://doi.org/10.17586/0021-3454-2023-66-10-834-844

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