CONTROLLING THE MOVEMENT OF HEXACOPTER ALONG THE INTENDED ROUTE WITH ENGINE FAILURE

This article investigates the issue of controlling the movement of a hexacopter-type unmanned aerial vehicle around a route. The movement of the hexacopter is modeled as the motion of a rigid body, taking into account gravitational forces and aerodynamic resistance forces. The spatial orientation of the hexacopter is expressed using quaternions. The movement route is considered as a broken line consisting of straight-line segments, and parameters that control the hexacopter's flight on the considered straight-line segment of the route are determined when one of its engines fails. The mathematical rationale for how to control the operational engines to continue the hexacopter's movement as before in the event of an engine failure is provided.