Diseño y simulación de un algoritmo de control robusto para formación cuadricópteros

Abstract

The trajectory tracking control for a quadcopter and the formation of three quadcopters were modeled and simulated with constant Z plane. To trajectory tracking control of a quadcopter the dynamic model was used and the combination of two techniques were designed: Backstepping-SMC and Backstepping-PID. To trajectory tracking control for three quadcopters the kinematic model was used and two control techniques were designed: PD and SMC. To evaluate the performance of each controller in trajectory tracking different paths were tested and systems behavior was analyzed by the performance indexes IAE and ISE.