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The paper presents a hardware/software architecture for the study of algorithms for controlling an unmanned aerial vehicle-type quadcopter in the presence of wind loads; an algorithm for the stabilization of the position of the center of mass of the quadcopter has been implemented and tested on an experimental model. The purpose of the presented hardware/software architecture is a study of the UAV control system parameters influence on the accuracy of the positioning of the vehicle in laboratory conditions under the influence of wind loads, as well as the movement of the vehicle along the specified points of the trajectory based on inertial sensors. The article discusses about the necessary hardware and software elements for reaching the stabilization of the position of the quadcopter in the hover mode based on data obtained from sensors. As the result of the study, the theoretical and experimental data are compared and the permissible range of the positioning error of the device is determined.

This paper deals with the validation of a hovering control algorithm for a mobile aerial platform executed on a quadcopter pattern. In order to test and evaluate the proposed hovering algorithm in a safe and controllable environment conditions, an experimental test bench has been introduced. As part of the hovering control algorithm implementation process, a brief description of the dynamics and control laws of the quadcopter is presented. The considered control technique in this paper is based on PID control method. A program code has been written using Arduino IDE based on Arduino UNO microcontroller. A description of the conducted indoor experiment for the validation of the hovering algorithm, and also the main results of the performed practical experiment are presented

Purpose of research. The article deals with the problem of monitoring water areas in order to control their physical and chemical conditions using a flying laboratory (FL) which includes an aircraft with attachable water intake equipment and a software and hardware system. A specific feature of the monitoring of surface waters is the unpredictable behavior of air and water, periodic absence of visual contact with the aircraft, the uncertainty of tricopter characteristics. Therefore, the purpose of this article is to study the parameters of the control system (CS) to meet the requirements for the accuracy of aircraft positioning in conditions of uncertainty of external parameters. Methods. Theoretical mechanics and robot mechanics methods were used to solve the set tasks. Methods for mathematical modeling of dynamic systems were used to study the patterns of convertiplane movement. Adaptive control with a reference model were used to plan and control the movement of the aircraft. Results. The use of adaptive FL motion control made it possible to ensure convergence to zero of the tracking errors i.e., the difference between the output signals and the reference model. The proposed control system gives a good result with small disturbing effects. The parameters of the regulator that ensure the quality indicators of the ACS within the specified limits are determined. Conclusion. A mathematical model was developed and mathematical modeling of the convertiplane movement under conditions of uncertainty of external influences was performed. The problem of parameter control of a convertiplane was considered when the control coefficients were available for setting. The developed algorithms in the adaptive control system made it possible to provide faster suppression of external disturbances in comparison with the traditional PID control system for the case of a linear description of the controlled object.

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