PID CONTROL AND ANALYSIS OF THE ROBUSTNESS IN A QUADROTOR

Gabriela Vieira Lima¹; Rafael Monteiro Jorge Alves de Souza¹; Fábio Vincenzi Romualdo da Silva¹; Aniel Silva de Morais¹; Guênia Mara Vieira Ladeira²; Josué Silva de Morais¹

¹ Universidade Federal de Uberlândia - Faculdade de Engenharia Elétrica; ² Universidade Federal de Uberlândia - Faculdade de Engenharia Mecânica

doi:10.20906/CPS/COB-2015-0372

Resumo

Technological advances in microelectromechanical (MEMS) sensors and actuators, in energy storage and in data processing have enabled the development of unmanned aerial vehicles (UAVs). The quadrotor has emerged as one of these research platforms due to its mechanical simplicity and high maneuverability, as well as the ability to hover and perform vertical take-off and landing. This study demonstrates the implementation of a control strategy for providing a solution to problems of positioning and path tracking of the quadrotor. The dynamic model was obtained through the Euler-Lagrange formalism. As this is an underactuated mechanical system, its control system has to be of a hierarchical scheme, composed by two subsystems: the translational and rotational. The translational subsystem enables the positioning and path tracking, while the rotational subsystem stabilizes the vehicle orientation angles. For reaching such objectives, proportional integral derivative (PID) classical controls were used. The robust performance of the controller was verified through of simulations in the presence of aerodynamic disturbances and parametric uncertainties.

Palavras-chave: PID Controller; Dynamic Model; Quadrotor; Path Tracking; Underactuated Mechanical System