Quadcopter Modeling and Control Using Controller Hardware-in-the-Loop
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Oliveira, Lara Tavares de
Costa, Kaique Silveira Viana
Portella, Kenedy Matiasso
Bellinaso, Lucas Vizzotto
Carnielutti, Fernanda de Morais
Moraes, Deniel Desconzi
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Quadcopters have many applications and an efficient controller is needed for reference tracking and to maintain vehicle stability. Quadcopter tests may require expensive laboratory setup to include certain conditions such as wind, with adequate control and monitoring. In this paper a bench markmodel of quadcopter is implemented in Hardware-In-the-Loop, in order to test the quadcopter controller considering different conditions of wind. For experimental results, an LQT controller has been implemented in a DSP, while the quadcopter was implemented in the real-time simulator Typhoon HIL. https://doi.org/10.53316/sepoc2021.080
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