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Master's Dissertation
DOI
10.11606/D.3.2017.tde-23102017-144556
Document
Author
Full name
Fernando dos Santos Barbosa
E-mail
Institute/School/College
Knowledge Area
Date of Defense
Published
São Paulo, 2017
Supervisor
Committee
Angelico, Bruno Augusto (President)
Campo, Alexandre Brincalepe
Romano, Rodrigo Alvite
Title in English
4DOF Quadcopter: development, modeling and control
Keywords in English
Control (Systems theory and control)
Quadmotor aircraft
Unmanned aerial vehicle
Abstract in English
This text presents the development of a four-degree-of-freedom (4DOF) quadcopter prototype that allows the vehicle to rotate around the three axes (yaw, pitch and roll) and linear movement along z-axis (altitude). The goal is to obtain a prototype bench that uses a good amount of components used in commercial quadcopters (sensors and actuators) and use it to apply attitude and altitude controllers, using techniques such as PID, LQR and Sliding-Mode. Starting from the system modeling, its specifications are shown followed by listing the components used, finishing with the development of the controllers and their simulations and applications.
Title in Portuguese
Quadricóptero 4DOF: desenvolvimento, modelagem e controle.
Keywords in Portuguese
Aeronaves não tripuladas
Aeronaves quadrimotoras
Controle (Teoria de Sistemas e Controle)
Abstract in Portuguese
Este texto apresenta o desenvolvimento de um protótipo de quadricóptero com quatro graus de liberdade (4DOF), o qual possibilita a rotação do veículo em torno dos três eixos (yaw, pitch e roll) e o deslocamento ao longo do eixo z (altitude). O objetivo é obter um protótipo de bancada que use a maior quantidade de componentes de um quadricóptero comercial (sensores e atuadores) e usá-lo para a aplicação de controladores de atitude e altitude, utilizando técnicas PID, LQR e Sliding-Mode. Partindo da modelagem do sistema, mostra-se as especificações do mesmo, os componentes utilizados e finaliza-se com o desenvolvimento dos controladores, simulação e aplicação deles.
 
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Publishing Date
2017-10-25
 
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