MANAGİNG THE MOVEMENT OF A HEXACOPTER İN THE EVENT OF ENGİNE FAİLURE

Summary: In this article, the issue of controlling the movement of a hexacopter-type unman-ned aerial vehicle (UAV) along a route is investigated. The movement of the hexacopter is modeled as the movement of a rigid body, and in this process, the forces of gravity and aerodynamic resistance are taken into account. The spatial orientation of the hexacopter is expressed using quaternions. The movement route is considered as a broken line consisting of straight segments, and the parameters controlling its flight are determined when one of the hexacopter's motors is not working. Mathematical justification is provided for how the operational motors are controlled to continue the hexacopter's movement in its previous manner when one motor fails.