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\u0421\u043f\u0438\u0441\u043e\u043a \u043b\u0438\u0442\u0435\u0440\u0430\u0442\u0443\u0440\u044b<\/summary>\n
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  1. Kurak S., Migdat H. Control and estimation of a quadcopter dynamical model. Periodicals of<\/em> Engineering and Natural Sciences (PEN)<\/em>. 2018. Vol. 6. No. 1. Pp. 63\u201375. DOI: 10.21533\/pen.v6i1.164<\/li>\n\n\n\n
  2. Cao N., Alan F.L. Inner\u2013outer loop control for quadrotor UAVs with input and state constraints. IEEE Transactions on Control Systems Technology<\/em>. 2015. Vol. 2. No. 5. Pp. 1797\u20131804. DOI: 10.1109\/TCST.2015.2505642<\/li>\n\n\n\n
  3. Azfar A.Z., Hazry D. A simple approach on implementing IMU sensor fusion in PID controller for stabilizing quadrotor flight control. IEEE 7th International Colloquium on Signal Processing<\/em> and its Applications.<\/em> Penang. Malaysia. 2011. Pp. 28\u201332. DOI: 10.1109\/CSPA.2011.5759837<\/li>\n\n\n\n
  4. Khatoon S., Shahid M., Chaudhary H. Dynamic modeling and stabilization of quadrotor using PID controller. International Conference on Advances in Computing, Communications and Informatics<\/em> (ICACCI).<\/em> Delhi. India. 2014. Pp. 746\u2013750. DOI: 10.1109\/ICACCI.2014.6968383<\/li>\n\n\n\n
  5. Rinaldi M., Stefano P., Giorgio G. A comparative study for control of quadrotor UAVs. AppliedSciences<\/em>. 2023. Vol. 13. No. 6. Pp. 3464. DOI: 10.3390\/app13063464<\/li>\n\n\n\n
  6. \u0411\u0435\u043b\u043e\u0432 <\/em>H<\/em>. <\/em>B<\/em>., \u0411\u043e\u0440\u0438\u0441 \u0411. \u042f.<\/em> \u041f\u043e\u0441\u0442\u0440\u043e\u0435\u043d\u0438\u0435 \u043c\u0430\u0442\u0435\u043c\u0430\u0442\u0438\u0447\u0435\u0441\u043a\u043e\u0439 \u043c\u043e\u0434\u0435\u043b\u0438 \u0443\u043f\u0440\u0430\u0432\u043b\u0435\u043d\u0438\u044f \u0432\u044b\u0441\u043e\u0442\u043e\u0439 \u0438 \u0443\u0433\u043b\u0430\u043c\u0438 \u0434\u0432\u0438\u0436\u0435\u043d\u0438\u044f \u0411\u041f\u041b\u0410 \/\/ \u0422\u0435\u043b\u0435\u043a\u043e\u043c\u043c\u0443\u043d\u0438\u043a\u0430\u0446\u0438\u0438 \u0438 \u0438\u043d\u0444\u043e\u0440\u043c\u0430\u0446\u0438\u043e\u043d\u043d\u044b\u0435 \u0442\u0435\u0445\u043d\u043e\u043b\u043e\u0433\u0438\u0438. 2018. \u0422. 5. \u2116 1. \u0421. 100\u2013111. EDN: UROPEO<\/li>\n\n\n\n
  7. Belov N.V., Boris B.Ya. Building a mathematical model for controlling UAV altitude and angles of motion. Telecommunications and Information Technologies<\/em>. 2018. Vol. 5. No. 1. Pp. 100\u2013111. EDN: UROPEO. (In Russian)<\/li>\n\n\n\n
  8. Oloo J.O. Design of extended kalman filter optimized fuzzy PID controller for a quadcopter in the event of one rotor failure: Dis. JKUAT-COETEC. 2021. 71 p.<\/li>\n\n\n\n
  9. \u041a\u0430\u043b\u0430\u0447\u0435\u0432 \u042e. \u041d.<\/em> SimInTech: \u043c\u043e\u0434\u0435\u043b\u0438\u0440\u043e\u0432\u0430\u043d\u0438\u0435 \u0432 \u044d\u043b\u0435\u043a\u0442\u0440\u043e\u043f\u0440\u0438\u0432\u043e\u0434\u0435. \u041c.: \u0414\u041c\u041a \u041f\u0440\u0435\u0441\u0441, 2022. C. 26\u201333.<\/li>\n\n\n\n
  10. Kalachev  Yu.N.  SimInTech:  modeling  in  electric  drive.  Moscow:  DMK  Press,  2022. Pp. 26\u201333. (In Russian)<\/li>\n\n\n\n
  11. Bahari N.B., Jidin A.B., Abdullah M.N. et al. Modeling and simulation of torque hysteresis controller for brushless DC motor drives. IEEE Symposium on Industrial Electronics and Applications<\/em>. Bandung, Indonesia. 2012. Pp. 152\u2013155.<\/li>\n\n\n\n
  12. \u041c\u044f\u0441\u0438\u0449\u0435\u0432 \u0410. \u0410<\/em>. \u041f\u0440\u043e\u0433\u0440\u0430\u043c\u043c\u0438\u0440\u043e\u0432\u0430\u043d\u0438\u0435 ESC \u0440\u0435\u0433\u0443\u043b\u044f\u0442\u043e\u0440\u043e\u0432 \u043f\u0440\u043e\u0448\u0438\u0432\u043a\u0430\u043c\u0438 SimonK \u0438 BLHeli \u0447\u0435\u0440\u0435\u0437 Arduino \u0438 \u043f\u043e\u043b\u0435\u0442\u043d\u044b\u0439 \u043a\u043e\u043d\u0442\u0440\u043e\u043b\u043b\u0435\u0440 \/\/ \u042d\u043b\u0435\u043a\u0442\u0440\u043e\u043d\u043d\u044b\u0439 \u0440\u0435\u0441\u0443\u0440\u0441. 2019. URL: https:\/\/www.researchgate.net\/publication\/332381105<\/li>\n\n\n\n
  13. Myasishchev  A.A.  Programming ESC controllers with SimonK and BLHeli firmware via Arduino and a flight controller. Electronic resource. <\/em>2019.Available at: https:\/\/www.researchgate.net\/publication\/332381105. (In Russian)<\/li>\n\n\n\n
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  21. C\u00e1rdenas R.C., Morales C.A.C., Ospina J.P. et al. Mathematical modeling and identification of a quadrotor. Computational Science and Its Applications \u2013 ICCSA 2020: 20th <\/sup>International Conference<\/em>. Cagliari, Italy, July 1\u20134, 2020, Proceedings, Part I 20. Springer International Publishing. 2020. Pp. 261\u2013275. DOI: 10.1007\/978-3-030-58799-4_19<\/li>\n\n\n\n
  22. Abdelhay S., Alia Z. Modeling of a quadcopter trajectory tracking system using PID controller. Procedia Manufacturing<\/em>. 2019. Vol. 32. Pp. 564\u2013571. DOI: 10.1016\/j.promfg.2019.02.253<\/li>\n\n\n\n
  23. Nguyen N.P., Ming N.X., Thanh H.l.N.N. et al. Adaptive sliding mode control for attitude and altitude system of a quadcopter UAV via neural network. IEEE Access<\/em>. 2021. Vol. 9. Pp. 40076\u201340085. DOI: 10.1109\/ACCESS.2021.3064883<\/li>\n\n\n\n
  24. Hoffmann F., Niklas G., Torsten B. Attitude estimation and control of a quadrocopter. IEEE \/ RSJ International Conference on Intelligent Robots and Systems<\/em>. 2010. P. 10721077. DOI: 10.1109\/IROS.2010.5649111<\/li>\n\n\n\n
  25. \u041a\u0430\u043b\u0430\u0447\u0435\u0432 \u041e<\/em>. \u041a\u0430\u043a \u044f \u0440\u0430\u0437\u0440\u0430\u0431\u043e\u0442\u0430\u043b \u043a\u0432\u0430\u0434\u0440\u043e\u043a\u043e\u043f\u0442\u0435\u0440 \u043d\u0430 ESP32 \u0441 \u043d\u0443\u043b\u044f \/\/ \u0425\u0430\u0431\u0440. URL: https:\/\/github.com\/okalachev\/flix<\/li>\n\n\n\n
  26. Kalachev O. How I developed a quadcopter on ESP32 from scratch, Khabr. Available at: https:\/\/github.com\/okalachev\/flix. (In Russian)<\/li>\n\n\n\n
  27. Open Source Autopilot For Drone Developers \/\/ PX4. URL: https:\/\/github.com\/px4\/px4-autopilot\/ (accessed: 25.06.2024).  <\/li>\n\n\n\n
  28. \u0416\u043c\u0443\u0434\u044c \u0412. \u0410., \u041a\u0443\u0437\u043d\u0435\u0446\u043e\u0432 \u041a. \u0410., \u041a\u043e\u043d\u0434\u0440\u0430\u0442\u044c\u0435\u0432 \u041d. \u041e. \u0438 \u0434\u0440<\/em>. \u0410\u043a\u0441\u0435\u043b\u0435\u0440\u043e\u043c\u0435\u0442\u0440 \u0438 \u0433\u0438\u0440\u043e\u0441\u043a\u043e\u043f MPU6050: \u043f\u0435\u0440\u0432\u043e\u0435 \u0432\u043a\u043b\u044e\u0447\u0435\u043d\u0438\u0435 \u043d\u0430 STM32 \u0438 \u0438\u0441\u0441\u043b\u0435\u0434\u043e\u0432\u0430\u043d\u0438\u0435 \u043f\u043e\u043a\u0430\u0437\u0430\u043d\u0438\u0439 \u0432 \u0441\u0442\u0430\u0442\u0438\u043a\u0435 \/\/ \u0410\u0432\u0442\u043e\u043c\u0430\u0442\u0438\u043a\u0430 \u0438 \u043f\u0440\u043e\u0433\u0440\u0430\u043c\u043c\u043d\u0430\u044f \u0438\u043d\u0436\u0435\u043d\u0435\u0440\u0438\u044f. 2018. \u2116 3(25). Pp. 9\u201322. EDN: YALYRF<\/li>\n\n\n\n
  29. Zhmud V.A., Kuznetsov K.A., Kondratyev N.O. et al. Accelerometer and gyroscope MPU6050: first inclusion on STM32 and study of readings in statics. Avtomatizatsiya i programmnaya inzheneriya<\/em>  [Automation  and  software  engineering].  2018.  Vol.  3.  No. 25.  Pp. 9\u201322. EDN: YALYRF. (In Russian)<\/li>\n<\/ol>\n<\/details>\n\n\n\n
    \u0418\u043d\u0444\u043e\u0440\u043c\u0430\u0446\u0438\u044f \u043e\u0431 \u0430\u0432\u0442\u043e\u0440\u0430\u0445<\/summary>\n
    \n

    \u0425\u0430\u0439 \u0424\u0430\u043c \u0427\u043e\u043d\u0433<\/strong>, \u0430\u0441\u043f\u0438\u0440\u0430\u043d\u0442 \u043e\u0442\u0434\u0435\u043b\u0435\u043d\u0438\u044f \u044d\u043b\u0435\u043a\u0442\u0440\u043e\u044d\u043d\u0435\u0440\u0433\u0435\u0442\u0438\u043a\u0438 \u0438\u043d\u0436\u0435\u043d\u0435\u0440\u043d\u043e\u0439 \u0448\u043a\u043e\u043b\u044b \u044d\u043d\u0435\u0440\u0433\u0435\u0442\u0438\u043a\u0438, \u0422\u043e\u043c\u0441\u043a\u0438\u0439 \u043f\u043e\u043b\u0438\u0442\u0435\u0445\u043d\u0438\u0447\u0435\u0441\u043a\u0438\u0439 \u0443\u043d\u0438\u0432\u0435\u0440\u0441\u0438\u0442\u0435\u0442;<\/p>\n\n\n\n

    634050, \u0420\u043e\u0441\u0441\u0438\u044f, \u0433. \u0422\u043e\u043c\u0441\u043a, \u0443\u043b. \u0423\u0441\u043e\u0432\u0430, 7;<\/p>\n\n\n\n

    tronghai180598@gmail.com; ORCID: https:\/\/orcid.org\/0009-0004-6272-890X<\/p>\n\n\n\n

    \u0428\u0438\u043b\u0438\u043d \u0410\u043b\u0435\u043a\u0441\u0430\u043d\u0434\u0440 \u0410\u043d\u0430\u0442\u043e\u043b\u044c\u0435\u0432\u0438\u0447, \u0434-\u0440 \u0442\u0435\u0445\u043d. \u043d\u0430\u0443\u043a, \u0434\u043e\u0446\u0435\u043d\u0442, \u043f\u0440\u043e\u0444\u0435\u0441\u0441\u043e\u0440 \u043e\u0442\u0434\u0435\u043b\u0435\u043d\u0438\u044f \u044d\u043b\u0435\u043a\u0442\u0440\u043e\u044d\u043d\u0435\u0440\u0433\u0435\u0442\u0438\u043a\u0438 \u0438\u043d\u0436\u0435\u043d\u0435\u0440\u043d\u043e\u0439 \u0448\u043a\u043e\u043b\u044b \u044d\u043d\u0435\u0440\u0433\u0435\u0442\u0438\u043a\u0438, \u0422\u043e\u043c\u0441\u043a\u0438\u0439 \u043f\u043e\u043b\u0438\u0442\u0435\u0445\u043d\u0438\u0447\u0435\u0441\u043a\u0438\u0439 \u0443\u043d\u0438\u0432\u0435\u0440\u0441\u0438\u0442\u0435\u0442;<\/p>\n\n\n\n

    634050, \u0420\u043e\u0441\u0441\u0438\u044f, \u0433. \u0422\u043e\u043c\u0441\u043a, \u0443\u043b. \u0423\u0441\u043e\u0432\u0430, 7;<\/p>\n\n\n\n

    shilin@tpu.ru; ORCID: https:\/\/orcid.org\/0000-0002-4761-7249, SPIN-code: 2790-9730<\/p>\n\n\n\n

    \u041d\u0433\u0443\u0435\u043d \u041c\u0438\u043d\u044c \u0422\u044b\u043e\u043d\u0433<\/strong>, \u043a\u0430\u043d\u0434. \u0442\u0435\u0445\u043d. \u043d\u0430\u0443\u043a, \u0434\u043e\u0446\u0435\u043d\u0442 \u043a\u0430\u0444\u0435\u0434\u0440\u044b \u0438\u043d\u0444\u043e\u0440\u043c\u0430\u0442\u0438\u043a\u0438, \u0420\u043e\u0441\u0441\u0438\u0439\u0441\u043a\u0438\u0439 \u0442\u0435\u0445\u043d\u043e\u043b\u043e\u0433\u0438\u0447\u0435\u0441\u043a\u0438\u0439 \u0443\u043d\u0438\u0432\u0435\u0440\u0441\u0438\u0442\u0435\u0442 \u041c\u0418\u0420\u042d\u0410;<\/p>\n\n\n\n

    119454, \u0420\u043e\u0441\u0441\u0438\u044f, \u041c\u043e\u0441\u043a\u0432\u0430, \u043f\u0440-\u0442 \u0412\u0435\u0440\u043d\u0430\u0434\u0441\u043a\u043e\u0433\u043e, 78;<\/p>\n\n\n\n

    nguen_m@mirea.ru, ORCID: https:\/\/orcid.org\/0009-0002-7267-1121, SPIN-\u043a\u043e\u0434: 5480-9970<\/p>\n<\/div>\n<\/details>\n\n\n\n

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    \u0418\u0441\u0441\u043b\u0435\u0434\u043e\u0432\u0430\u043d\u0438\u0435 \u0432\u043b\u0438\u044f\u043d\u0438\u044f \u044d\u043b\u0435\u043a\u0442\u0440\u043e\u043c\u0430\u0433\u043d\u0438\u0442\u043d\u044b\u0445 \u043f\u0440\u043e\u0446\u0435\u0441\u0441\u043e\u0432 BLDC-\u043c\u043e\u0442\u043e\u0440\u0430 \u043d\u0430 \u043f\u043e\u043a\u0430\u0437\u0430\u043d\u0438\u044f \u0433\u0438\u0440\u043e\u0441\u043a\u043e\u043f\u0430 \u0425. \u0424\u0430\u043c \u0427\u043e\u043d\u0433, \u0410. \u0410. \u0428\u0438\u043b\u0438\u043d, \u041c. \u0422. \u041d\u0433\u0443\u0435\u043d \u0417\u0430\u0433\u0440\u0443\u0437\u0438\u0442\u044c \u043f\u043e\u043b\u043d\u044b\u0439 \u0442\u0435\u043a\u0441\u0442 \u0410\u043d\u043d\u043e\u0442\u0430\u0446\u0438\u044f. \u0410\u043a\u0442\u0443\u0430\u043b\u044c\u043d\u043e\u0441\u0442\u044c \u0440\u0430\u0431\u043e\u0442\u044b \u0437\u0430\u043a\u043b\u044e\u0447\u0430\u0435\u0442\u0441\u044f \u0432 \u0442\u043e\u043c, \u0447\u0442\u043e \u0432\u0438\u0431\u0440\u0430\u0446\u0438\u043e\u043d\u043d\u044b\u0435 \u043f\u043e\u043c\u0435\u0445\u0438, \u0432\u043e\u0437\u043d\u0438\u043a\u0430\u044e\u0449\u0438\u0435 \u0432\u0441\u043b\u0435\u0434\u0441\u0442\u0432\u0438\u0435 \u0440\u0430\u0431\u043e\u0442\u044b \u0434\u0432\u0438\u0433\u0430\u0442\u0435\u043b\u0435\u0439 \u043a\u0432\u0430\u0434\u0440\u043e\u043a\u043e\u043f\u0442\u0435\u0440\u0430, \u043e\u0441\u0442\u0430\u044e\u0442\u0441\u044f \u043e\u0434\u043d\u043e\u0439 \u0438\u0437 \u043a\u043b\u044e\u0447\u0435\u0432\u044b\u0445 \u043f\u0440\u0438\u0447\u0438\u043d \u0443\u0445\u0443\u0434\u0448\u0435\u043d\u0438\u044f \u0442\u043e\u0447\u043d\u043e\u0441\u0442\u0438 \u0438 \u0443\u0441\u0442\u043e\u0439\u0447\u0438\u0432\u043e\u0441\u0442\u0438 \u0441\u0438\u0441\u0442\u0435\u043c \u0443\u043f\u0440\u0430\u0432\u043b\u0435\u043d\u0438\u044f \u0431\u0435\u0441\u043f\u0438\u043b\u043e\u0442\u043d\u044b\u043c\u0438 \u043b\u0435\u0442\u0430\u0442\u0435\u043b\u044c\u043d\u044b\u043c\u0438 \u0430\u043f\u043f\u0430\u0440\u0430\u0442\u0430\u043c\u0438. \u042d\u0442\u0438 \u043f\u043e\u043c\u0435\u0445\u0438, \u0432\u044b\u0437\u0432\u0430\u043d\u043d\u044b\u0435 \u043f\u0435\u0440\u0435\u043a\u043b\u044e\u0447\u0435\u043d\u0438\u0435\u043c \u043c\u0430\u0433\u043d\u0438\u0442\u043d\u044b\u0445 \u043f\u043e\u0442\u043e\u043a\u043e\u0432 \u0432 \u044d\u043b\u0435\u043a\u0442\u0440\u043e\u0434\u0432\u0438\u0433\u0430\u0442\u0435\u043b\u044f\u0445, \u043c\u043e\u0433\u0443\u0442 \u0441\u0443\u0449\u0435\u0441\u0442\u0432\u0435\u043d\u043d\u043e […]<\/p>\n","protected":false},"author":1,"featured_media":0,"parent":0,"menu_order":0,"comment_status":"closed","ping_status":"closed","template":"","meta":{"footnotes":""},"class_list":["post-2779","page","type-page","status-publish","hentry"],"yoast_head":"\n27.3.4 - 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