In article the UAV three-dimensional mathematical model on the basis of the quadcopter as most the UAV widespread type at the moment is developed. The quadcopter is based on a frame of DJI F-450. The first part of article is devoted to the mathematical description of the quadrotor model, namely: to a kinematics and dynamics models; to forces and torques operating on the UAV; to rotation matrixes; to the assumptions simplifying mathematical expressions. For the description of location and movement of the quadrotor in space also the bound will be used inertial reference frame. Therefore transformation from one frame to another is necessary. The simulation of the operation of the motors 1-4, which are electric drives of direct current, has been performed. Rotation of engines is transferred to screws directly. Movement of the quadcopter in the bound frame is considered in the article by the accounting of the models of a kinematics and dynamics describing the vehicle movement.

Keywords: quadrotor, UAV, kinematics, dynamics, 3D environment, DJI F-450, engine, traction, rotation matrix, vehicle

In this paper, we describe three target distribution methods for vehicle group control. The purpose of the methods being developed is to increase the number of defenders who survived after the fight with the enemy. The first method introduces a priority system based on the distance to the robot, as well as the distance to the protected area. The second method is based on the application of the modified swarm particle method, and the third method is based on the evolutionary-genetic algorithm. To demonstrate the work of each method, software was developed in C # and Python. The performed simulation showed the effectiveness of each method developed. Sixty experiments were carried out, 3 parameters were evaluated in each experiment. The best results were achieved using a method based on the priority system.

Keywords: vehicle, group control, priority, target distribution, optimization, particle swarm optimization, evolutionary-genetic algorithm, heuristic method

This paper presents an overview of modern adaptive control systems for vehicle. It shows simulation results of vehicle flight with using the adaptation algorithm for position-control system, with estimation loop of additional disturbances, and with the reference mathematical model and astatism. The simulation results for two cases (for given constant coefficients of adapting and using the automatic settings adjustment coefficients) are presented.

Keywords: adaptive control, helicopter, position-trajectory control, observer, estimation, vehicle, flight,simulation

In the article the method of dynamic repeller formation in case of drone movement control is offered for use in the three-dimensional environments with obstacles. Erle-HexaCopter is considered as drone in this article. Article contains the short description of a hexacopter mathematical model and positional-trajectory control movement algorithms. The method is based on representation obtacles as dynamic repeller is offered. Dynamic repellers are formed depending on the distance from the drone to the obstacle in the movement process. This method is analyzed and simulated in Matlab. Cases with one or several stationar obtacles are considered in simulation. In conclusion, we formulated the revealed features of this method

Keywords: Hexacopter, unformalized environment, 3D, round of obstacles, movement control, repeller, drone

This paper represent a method of unstable modes and concept of virtual point applying to unmanned aerial vehicles in 3D. It describes details of unstable modes for vehicle control, as well as virtual point method in 3D and its procedure. As an example of vehicle, we use hexacopters. Paper shows simulation results for a number of cases: a flight from point to point in undetermined environment with obstacles and path-following in undetermined environment with obstacles. The efficiency of the method with various coefficients is analyzed. In conclusions we discuss about limits of the method and the recommendations of its use.

Keywords: unstable mode, hexacopter, vehicle, virtual point, UAV, obstacle, simulation, flight, position-trajectory control