Diseño e implementación de minidrones (mini UAVs) : Desarrollo y simulación de algoritmos de despegue y aterrizaje de minidrones.

Abstract

This document shows the design, implementation and simulation of three algorithms for the control of landing and takeoff of mini UAV (Unmanned Aeriel Vehicle), specifically the quadricopter because it is composed of four rotors and presents greater stability, maneuverability and ease of control. For the development of the work we use a mathematical model obtained from the dynamic model of the quadcopter, this model consists of two subsystems: rotation subsystem that corresponds to the roll, pitch and yaw angles (angular position); and the translation subsystem that corresponds to the movement in the x, y and z axis (linear position). Since we are mainly interested in the height variable, only the equations of the rotation subsystem and the Z -axis (altitude) motion are considered, therefore, controllers for these variables are implemented. These controllers are PID and PD that are obtained empirically for each variable and the controller based on fuzzy logic is implemented for roll and pitch, where there are two inputs with five membership functions each and one output with five membership functions obtaining a base of twenty-five rules. For the simulation of the work, the MATLAB/Simulink software is used, and tests are performed for different reference changes of angle and altitude reference, as well as to obtain ISE and ISCO performance indexes are obtained for the altitude controllers. Through the results, it is determined the fuzzy controller has better stabilization time and less overshoot, but it needs a higher control action.