4DOF Quadcopter: development, modeling and control

• Ano de defesa: 2017
• Autor(a) principal: Barbosa, Fernando dos Santos
• Tipo de documento: Dissertação
• Tipo de acesso: Acesso aberto
• Idioma: eng
• Instituição de defesa: Biblioteca Digitais de Teses e Dissertações da USP
• Palavras-chave em Português: Aeronaves não tripuladas; Aeronaves quadrimotoras; Control (Systems theory and control); Controle (Teoria de Sistemas e Controle); Quadmotor aircraft; Unmanned aerial vehicle
• Link de acesso: http://www.teses.usp.br/teses/disponiveis/3/3139/tde-23102017-144556/

This text presents the development of a four-degree-of-freedom (4DOF) quadcopter prototype that allows the vehicle to rotate around the three axes (yaw, pitch and roll) and linear movement along z-axis (altitude). The goal is to obtain a prototype bench that uses a good amount of components used in commercial quadcopters (sensors and actuators) and use it to apply attitude and altitude controllers, using techniques such as PID, LQR and Sliding-Mode. Starting from the system modeling, its specifications are shown followed by listing the components used, finishing with the development of the controllers and their simulations and applications.