Numerical analysis of controlled motion of a quadcopter drone

The mathematical model of the drone-quadcopter motion control system with the justi-fication of the choice of control elements is considered. The penalty functional method forsolving the optimal control problem with three types of phase constraints is algorithmizedand implemented in software. Numerical schemes of this method based on the grid approx-imation of the corresponding control problem with the subsequent application of finite-dimensional constrained optimization methods are developed, recommendations for theirpractical use are provided.