Modelagem e controle de um veículo aéreo não tripulado do tipo quadrotor

Abstract

Unmanned Aerial Vehicles (UAVs) are currently used for various applications, civil or military, due to their ability to take off vertically, ability to move at low speeds, relatively low cost and lower risk. Its operation is only possible due to the use of reliable and accurate controllers. In general, the control systems applied to this type of aircraft aim to guarantee its stability and make it follow a desired trajectory. In view of this, this work presents the mathematical modeling and design of a control system for a quadrotor UAV. The control technique adopted is the Linear Quadratic Regulator (LQR), an optimal control technique, with the addition of an integrator (LQI) in order to make the aircraft follow a position reference.