Algoritmos de controle aplicados à estabilização do vôo de um quadrotor

Abstract

The goal of this study is to compare two control algorithms of roll and pitch attitude of a quadrotor, to stabilizes the airplane in flight. To perform this task, two different design methodologies will be used and compared. The first one will be the PID approach, based in linear theory, while the second uses Lyapunov’s stability theory, more precisely the Lyapunov’s second method, wich is able to guarantee the stability of linear and nonlinear systems . A complete mathematical model of kinematics and dynamics will be built ,as well as will bepresented performance-based design techniques. Will be described the main components of a quadrotor. And then, the effectiveness will be tested in a application framework, here they will be checked for robustness to noise, the impact of modeling simplifications and the controllers performance.