TRAJECTORY TRACKING FOR A FOUR ROTOR MINI-QUADROTOR

ROSALES CLAUDIO D.; SCAGLIA GUSTAVO; BRANDAO ALEXANDRE S.; SARCINELLI MARIO FILHO; CARELLI RICARDO

Fortaleza, Ceará

Congreso; XI Simpósio Brasileiro de Automação Inteligente (SBAI); 2013

Sociedade Brasileira de Automática (SBA)

This paper presents the design of a controller that allows a four-rotor helicopter to track a desired trajectory in the 3D space. To this aim, a dynamic model obtained from Euler-Lagrange equations is used to describe the robot. Such model is represented by numerical methods and, from this approach, the control actions for the operation of the system are obtained. The proposed controller is easy implementation and presents a good performance.