Synthesis of Optimal System with a Variable Structure for Control of Quadrotor UAV

The control of transient processes of a quadrotor unmanned aerial vehicle, described by ordinary nonlinear differential equations, requires the development of optimal systems with variable structure. The solution to this problem is suggested using a procedure for constructing optimal trajectories, determining switching moments and synthesizing control functions for multidimensional systems. The creation of algorithms and circuit solutions for the synthesis of optimal variable-structure systems for multidimensional nonlinear moving objects has practical significance as a basis for the formation of automated procedures for the synthesis of robust-optimal control systems and the development of software tools for various types of unmanned aerial vehicle.