Eventos Anais de eventos
COBEM 2019
25th International Congress of Mechanical Engineering
COMMAND AUTOMATIZATION OF AN AR.DRONE QUADROTOR FOR PERFORMING INDOOR FLIGHTS
Submission Author:
Alessandro Zachi , RJ
Co-Authors:
Marcos Antonio Gomes da Silva, Waltencir Andrade, Josiel Gouvêa, Alessandro Zachi
Presenter: Alessandro Zachi
doi://10.26678/ABCM.COBEM2019.COB2019-0977
Abstract
This work describes the automatization of flight commands of a quadrotor-type Unmanned Aerial Vehicle (AUV). In the developments, a low cost and commercialy available Parrot AR.Drone 2.0 quadrotor model is adopted. The key idea is to take advantages of the drone's internal hardware controller and sensors, in order to design a stable automatic controller. The main objective of the present approach is to use the theory of Active Disturbance Rejection Control (ADRC) method for computing the external flight commands automatically (i.e., without user intervention) and send them to the quadrotor's microcontroller board. An attractive property of the ADRC method is its robustness against parametric uncertainties and unmodeled dynamics of the system. The controller performance is illustrated via experimental results.
Keywords
Quadrotor, UAV, robust ADRC control, indoor flight, AR.Drone 2.0
