Modelagem dinâmica e controle para navegação de um veículo aéreo não tripulado do tipo quadricóptero

• Ano de defesa: 2015
• Autor(a) principal: Lima, Gabriela Vieira
• Tipo de documento: Dissertação
• Tipo de acesso: Acesso aberto
• Idioma: por
• Instituição de defesa: Universidade Federal de Uberlândia; BR; Programa de Pós-graduação em Engenharia Elétrica; Engenharias; UFU
• Palavras-chave em Português: Controle preditivo; Controle PID; Modelagem dinâmica; Veículo aéreo não tripulado; Rastreamento de trajetória; Robustez; Predictive control; PID control; Dynamic modeling; Unmanned aerial vehicle; Path tracking; Robustness; CNPQ::ENGENHARIAS::ENGENHARIA ELETRICA
• Link de acesso: https://repositorio.ufu.br/handle/123456789/14608; https://doi.org/10.14393/ufu.di.2015.385

Technological advances in electromechanical sensor and actuators, energy storage, data processing and control methodology made possible the development of unmanned aerial vehicles (UAVs). The quadrotor has emerged as one of these research platforms due to its mechanical simplicity, high maneuverability, as well as its capability of hovering and perform vertical take-off and landing. However, such vehicle presents some challenging issues to control area, like: nonlinearity, time-varying behavior, in addition it belongs to the class of underactuated mechanical systems, and it is subject to aerodynamics disturbances and parametric uncertainties. Therefore, this dissertation has as main objective, contribute to development and control strategies implementation to solve the positioning and path tracking problems of unmanned aerial vehicles, focusing on an underactuated mechanical system. In order to obtain a dynamic model that represents the aerial vehicle properly and realistically, the motion equations were developed based on the physics laws that define the mechanical system. The model we obtained is decoupled, thus we consider the presence of two subsystems, the rotational and the translational ones. A cascade control strategy was implemented, so that, a model predictive control (MPC) was developed to the altitude and orientation control of the aerial vehicle. However, the positioning control along the xy axis was performed through a proportional integral derivative control (PID). Such strategies allowed a smooth path tracking, beyond the possibility of dealing with physical constraints of the system. In order to assess the robustness of the control structure shown, we performed flight simulations under the presence of aerodynamics disturbances and parametric uncertainties.