Angular Quadcopter Stabilization while Execution an Energy Audit Task

Quadrocopters for today are one of the most inexpensive (relatively) unmanned aerial vehicles, which can be used in various tasks. The quality of the control of a quadrocopter (or another multicopter system) depends on the control system. Since the battery charge and the external environment are not unchanged during the use of the multicopter, the behavior of such a system may change and the quadrocopter may cease to satisfy the quality of control that was laid during its assembly. In this paper, we consider a variant of a robust regulator of a multi-rotor aircraft, which preserves the accuracy of control of a quadcopter while execution an energy audit task.