Modelagem dinâmica e controle para navegação de um veículo aéreo não tripulado do tipo quadricóptero

Abstract

Technological advances in electromechanical sensor and actuators, energy storage, data processing and control methodology made possible the development of unmanned aerial vehicles (UAVs). The quadrotor has emerged as one of these research platforms due to its mechanical simplicity, high maneuverability, as well as its capability of hovering and perform vertical take-off and landing.However, such vehicle presents some challenging issues to control area, like: nonlinearity, time-varying behavior, in addition it belongs to the class of underactuated mechanical systems, and it is subject to aerodynamics disturbances and parametric uncertainties. Therefore, this dissertation has as main objective, contribute to development and control strategies implementation to solve the positioning and path tracking problems of unmanned aerial vehicles, focusing on an underactuated mechanical system.In order to obtain a dynamic model that represents the aerial vehicle properly and realistically, the motion equations were developed based on the physics laws that define the mechanical system. The model we obtained is decoupled, thus we consider the presence of two subsystems, the rotational and the translational ones.A cascade control strategy was implemented, so that, a model predictive control (MPC) was developed to the altitude and orientation control of the aerial vehicle. However, the positioning control along the xy axis was performed through a proportional integral derivative control (PID). Such strategies allowed a smooth path tracking, beyond the possibility of dealing with physical constraints of the system. In order to assess the robustness of the control structure shown, we performed flight simulations under the presence of aerodynamics disturbances and parametric uncertainties.

Dynamic responses due to the Dryden gust of an autonomous quadrotor UAV carrying a payload

“…The PD gains were initially selected according to their values previously employed in Ref. [37], and the new SMC gains were chosen based on the pole placement method. The defining step of the controller gains is very important to obtain a successful controller design.…”

“…7 that the SMC reduces the oscillation more than the PD. Especially at the time when a disturbance is applied to the system [25][26][27][28][29][30][31][32][33][34][35][36][37][38][39][40]s, not only the peak amplitude calculated with the SMC is smaller than that calculated with the PD, but the time required for the system to return to a minimum oscillation is also reduced.…”

“…These controllers are selected for this study because they are the most used for quadrotor control, as shown in Refs. [11,12,34,35,37]. The comparison between the SMC and the PD controllers has been made to assess the main contributions of this paper, that consists in the new dynamic configuration and vibration suppression over the quadrotor flight phases.…”

“…Firstly, the total thrust needs to be calculated by use of Equation ( 4). Secondly, to ensure the motion of the quadrotor in the (x,y) planes, the desired roll and pitch angles (φ des , θ des ) are generated through their expressions, as given in [37]:…”

Planejamento de trajetória e controle para veículo aéreo não tripulado para inspeção de gasoduto.

“…É importante ressaltar que os ângulos de Euler podem apresentar singularidades para certos valores, como ±90 • . Portanto, movimentos que levem o veículo a esses valores devem ser evitados (OLIVEIRA, 2019).…”