Modelagem e controle nao linear subatuado de um quad-rotor: Parte 2

ALEXANDRE S. BRANDAO; IGOR PIZETTA; MARIO SARCINELLI; RICARDO CARELLI

Campina Grande

Congreso; XIX Congresso Brasileiro de Automática, CBA 2012; 2012

Universidade Federal de Campina Grande

This paper proposes a low- and high-level underactuated nonlinear controller capable to guide a UAV during a 3D flight. In its first part the dynamic models of the actuator and the rigid body of a quad-rotor are presented. Explicitly such model highlights its underactuated character. Following, a suitable controller based on the Theory of Lyapunov and partial feedback linearization technique is designed for stabilizing the rotorcraft, besides guiding it during positioning and trajectory tracking tasks. Simulated and experimental results using a quad-rotor are presented, which validate the proposed controller and, consequently, its dynamic model.