Controle linear quadrático integral experimental para um veículo aéreo não tripulado do tipo quadricóptero

Abstract

Based on the advances obtained in the areas of sensing and information processing, it is possible to develop advanced control techniques applied to unmanned aerial vehicles. Amongst the growing application of advanced control techniques, this type of vehicle still presents many challenges due to its non-linear dynamics. In this aspect, the present work proposes the development of a system for experimental LQI control of altitude (X, Y and Z and yaw). For purposes of simulation and design of the controllers, mathematical modeling of the vehicle was used. To validate the simulation, an experimental implementation was performed, in which it was observed that the vehicle was able to follow the flight commands smoothly and with satisfactory precision.