Pith Number

pith:C4GFHHPB

pith:2026:C4GFHHPBJ2XR4EVOTIO7MMB3UH

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Control Algorithms for Quadcopter Motion in Dynamic Positioning Mode

Anton Pyrkin, Oleg Borisov, Stanislav Kim

A full motion model for quadcopters supports two control algorithms that maintain position while yaw can change.

arxiv:2605.15349 v1 · 2026-05-14 · eess.SY · cs.SY

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Claims

C1strongest claim

A complete model of quadcopter motion for the task of dynamic positioning at a specified point is derived. Based on this model, two control algorithms are proposed. The first one generalizes previously obtained results to the case of a varying yaw angle. The second control algorithm addresses the above problem using a simplified regulator tuning methodology.

C2weakest assumption

The paper assumes that a complete and usable model of quadcopter motion can be derived for dynamic positioning and that the proposed control algorithms will function as intended under the model's conditions, but the abstract provides no information on the specific physical assumptions (e.g., rigid body, neglect of certain aerodynamic effects) or validation steps.

C3one line summary

Derives quadcopter dynamic positioning model and proposes two control algorithms: one generalizing varying yaw and one with simplified regulator tuning.

References

5 extracted · 5 resolved · 0 Pith anchors

[1] Borisov O. I., Pyrkin A. A., Isidori A. Application of enhanced extended observer in station-keeping of a quadrotor with unmeasurable pitch and roll angles // IFAC-PapersOnLine. 2019. Vol. 52, No. 16. 2019 · doi:10.1016/j.ifacol.2019.12.067

[2] Borisov O. I., Kakanov M. A., Zhivitskii A. Yu., Pyrkin A. A. Robust output trajectory control of a quadcopter based on a geometric approach // Izvestiya Vysshikh Uchebnykh Zavedenii. Priborostroenie 2021

[3] Gauthier J. P., Kupka I. Deterministic observation theory and applications. Cambridge University Press, 2001 2001

[4] An extension of a lemma of Dayawansa and its application in the design of extended observers for nonlinear systems // Automatica 2019 · doi:10.1016/j.automatica.2019.04.043

[5] Robust tracking control of a robot arm actuated by permanent magnet synchronous motors // International Journal of Robust and Nonlinear Control 2022 · doi:10.1002/rnc.6366

Formal links

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Receipt and verification

First computed	2026-05-20T00:00:53.805839Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

170c539de14eaf1e12ae9a1df6303ba1fa9aa6e556079e61fa7858dc3a6c9c18

Aliases

arxiv: 2605.15349 · arxiv_version: 2605.15349v1 · doi: 10.48550/arxiv.2605.15349 · pith_short_12: C4GFHHPBJ2XR · pith_short_16: C4GFHHPBJ2XR4EVO · pith_short_8: C4GFHHPB

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Verify this Pith Number yourself

curl -sH 'Accept: application/ld+json' https://pith.science/pith/C4GFHHPBJ2XR4EVOTIO7MMB3UH \
  | jq -c '.canonical_record' \
  | python3 -c "import sys,json,hashlib; b=json.dumps(json.loads(sys.stdin.read()), sort_keys=True, separators=(',',':'), ensure_ascii=False).encode(); print(hashlib.sha256(b).hexdigest())"
# expect: 170c539de14eaf1e12ae9a1df6303ba1fa9aa6e556079e61fa7858dc3a6c9c18

Canonical record JSON

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  "metadata": {
    "abstract_canon_sha256": "39342177e14736a5db4a439eed7268e8f2ca49e6e0456a508f264d60a39ae5e7",
    "cross_cats_sorted": [
      "cs.SY"
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    "license": "http://creativecommons.org/licenses/by/4.0/",
    "primary_cat": "eess.SY",
    "submitted_at": "2026-05-14T19:19:52Z",
    "title_canon_sha256": "2bde99cb9ec654dc64391035dd5e5f64d5ce9081c5210d2052f5dc591ccbcfa8"
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