Stochastic Modeling and Classical Control of a Quadrotor

David Julian Gonzalez Maldonado¹; Fernando Augusto de Noronha Castro Pinto¹; Thiago Gamboa Ritto¹

¹ Universidade Federal do Rio de Janeiro

doi:10.20906/CPS/COB-2015-1889

Resumo

The objective of this paper is to present the design and construction of a Quadrotor for indoor purposes. The aircraft will be capable of stabilize inside a closed environment by means of a digital controller programed in its processing system. Firstly, a deterministic model is introduced using Newton-Euler equations and some considerations are taken in order to simplify the model. Next, a stochastic model will be considered to handle the uncertainties related to the sensors by adding gaussian noise. Later, an Extended Kalman Filter is used to estimate the states and output of the system. Finally, four independent digital PID controllers are designed to control the height, roll, pitch and yaw of the Quadrotor.

Palavras-chave: Quadrotor; Dynamic Modeling; Classical Control; Newton-Euler Equations; Kalman Filter