Eventos Anais de eventos
COBEM 2019
25th International Congress of Mechanical Engineering
Dynamic Modelling And Control Of Unmanned Aerial Vehicle Of The Quadrotor Type
Submission Author:
Allan Oliveira , SP
Co-Authors:
Allan Oliveira
Presenter: Allan Oliveira
doi://10.26678/ABCM.COBEM2019.COB2019-0695
Abstract
This paper presents a dynamic model for an Unmanned Aerial Vehicle of the quadrotor type, together with the design of proportional controllers and based on the State-Dependent Riccati Equation (SDRE) to control the vehicle’s velocities and to stabilize the attitude, respectively. The mathematical model is obtained by the Newtonian formalism considering the gyroscopic effect as disturbance input to the system, the translational and rotational dynamics are described in the inertial frame. Different from most of the works in literature which only consider small-angles variation simplifications, in this contribution the analysis is done considering the full nonlinear dynamic, which results in the coupling of control inputs to the rotational system. The designed controllers are applied in two flight situations: rectilinear and spiral trajectories, both with manually adjusted gains. The results show that relative error in the x-y-z final position are approximately 0.1\%, 0.07\% and 0.22\%, for the first trajectory, and 0,24\%, 7\% and 1.08\% for the second trajectory, being for y the exact error.
Keywords
Unmanned aerial vehicle, Quadrotor, SDRE, Gyroscopic effect
