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Master's Dissertation
DOI
10.11606/D.3.2019.tde-01032019-155058
Document
Author
Full name
Silvio Luis Hori Cavallaro
E-mail
Institute/School/College
Knowledge Area
Date of Defense
Published
São Paulo, 2018
Supervisor
Committee
Donha, Decio Crisol (President)
Meza, Magno Enrique Mendoza
Rade, Domingos Alves
Title in Portuguese
Modelagem, simulação e controle de um VANT do tipo quadricóptero.
Keywords in Portuguese
Aeronaves não tripuladas
Aeronaves quadrimotoras
Controle ótimo
Simulação (Aprendizagem)
Abstract in Portuguese
Esta dissertação visa a modelagem, simulação e controle de um veículo aéreo não tripulado (VANT) do tipo quadricóptero, utilizando-se as técnicas de controle ótimo e controle robusto no espaço de estados. O quadricóptero deve realizar as funções de decolagem, voo em cruzeiro e pouso de maneira autônoma. A dissertação inclui a síntese e análise comparativa entre um observador de estados de ordem plena de Luenberger e um filtro de Kalman. Além disso, um controlador linear quadrático gaussiano e um controlador robusto serão sintetizados e avaliados, procurando-se avaliar qual tem o melhor desempenho nas diversas tarefas do VANT.
Title in English
Modeling, simulation and control of a quadrotor unmanned aerial vehicle.
Keywords in English
Optimal control
Quadrotors
Simulation (Learning)
Unmanned aerial vehicles
Abstract in English
This dissertation includes the modeling, simulation and control of a quadrotor unmanned aerial vehicle by using optimum control and robust control techniques on the space state. The quadrotor must perform the takeoff, cruise flight and landing in an autonomous way. This report also presents the synthesis and comparative analysis between a Luenberger full order state observer and a Kalman filter. A linear quadratic gaussian controller and a robust controller will be also synthetized and analyzed, to compare which one exhibits the best performance on the UAV tasks.
 
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Publishing Date
2019-03-12
 
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