Eventos Anais de eventos
COBEM 2019
25th International Congress of Mechanical Engineering
COMPARISON OF DIFFERENT FLIGHT CONTROL APPROACHES FOR A QUADCOPTER UAV
Submission Author:
Luiz de Siqueira Martins Filho , SP
Co-Authors:
Fillipe Cerdan Silva, Luiz de Siqueira Martins Filho
Presenter: Luiz de Siqueira Martins Filho
doi://10.26678/ABCM.COBEM2019.COB2019-0652
Abstract
This article addresses the problem of the flight control of an unmanned aerial vehicle (UAV), considering a typical quadcopter configuration with four independently actuated rotors. The first step of this work concerns the setting of the dynamics model equations of the vehicle flight in adequacy with the application of different types of control methods. In order to design an appropriate control strategy for a reliable and quite simple system, the study comprises control approaches from the well-known PID to more advanced technics like optimal control and nonlinear control. The main purpose is pointing out advantages and disadvantages of each approach for the specific problem of the controlled take-off/landing maneuvers and the displacements missions. An attractive design option can be defined by evaluating the compromise between the simplicity for an embedded processing system and the adequate command performance, considering the application in an open system experimental quadcopter platform.
Keywords
Quadcopter UAV, Flight control, PID control, LQR Control
