doctoralThesis
Controle de atitude e altitude para um veículo aéreo não tripulado do tipo quadrirrotor
Fecha
2012-12-19Registro en:
GUIMARÃES, João Paulo Ferreira. Controle de atitude e altitude para um veículo
aéreo não tripulado do tipo quadrirrotor. 2012. 69 f. Tese (Doutorado em Automação e Sistemas; Engenharia de Computação; Telecomunicações) - Universidade Federal do Rio Grande do Norte, Natal, 2012.
Autor
Guimarães, João Paulo Ferreira
Resumen
A Quadrotor is an Unmanned Aerial Vehicle (UAV) equipped with four rotors distributed
on a simple mechanical "X"form structure.
The aim of this work is to build and stabilize a Quadrotor aircraft in the roll, pitch and
yaw angles at a certain altitude.
The stabilization control approach is based on a transformation in the input variables
in order to perform a decoupled control. The proposed strategy is based on breaking the
control problem into two hierarchical levels: A lower level, object of this work, maintains
the desired altitude an angles of the vehicle while the higher level establishes appropriate
references to the lower level, performing the desired movements.
A hardware and software architecture was specially developed and implemented for
an experimental prototype used to test and validate the proposed control approach
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