Modeling of Robust Algorithms for Control of Lift and Horizontal Stabilization of an Unmanned Tricopter

The problem of control of the lift and horizontal orientation of an unmanned tricopter with traction motors located in the same plane, at the vertices of a regular triangle, is considered. A mathematical model of the tricopter dynamics is constructed taking into account the presence of a load with a variable mass and the coordinate of application of the overturning force. A control algorithm for stabilization in height and orientation taking into account the angles of roll and pitch, based on a PID controller, and an algorithm for controlling the tricopter engine thrust for stabilizing it only in height without taking into account the orientation deviation, using a fast algorithm of the 2nd order are presented. A computer model of the tricopter control system in the Simulink package is constructed. Using the model, the work of the fast algorithm for controlling the takeoff and landing of the aircraft is studied.