Diseño e implementación de un sistema de auto-piloto para el control de un hexacóptero

Abstract

This paper shows the design and implementation of an auto-pilot for control of a hexacopter, from the selection and engagement of the mechanical elements, sensors, communication and control; based on the mathematical model performing a kinematic and dynamic analysis of the system. Based on this model, a cascade controller, which performs control of the Euler angles (pitch, roll and yaw) and the angular velocity in each of the rotation axes, is designed. The auto-pilot performed flight maneuvers to ascend, descend, forward, backward, right and left; each of them with two speeds (normal and high). Also, a ground station for the execution of operations and data visualization is design.