Desarrollo de algoritmos para el seguimiento de trayectorias de un quadrotor utilizando técnicas modernas de control con algebra lineal

Abstract

The present work shows the controller design for a quadrotor, which allows the drone to follow a pre-established trajectory. The model that has been considered for the AR.Drone 2.0 is the one suggested by Parrot, the maker, which is also considering a rotational matrix for the XY plane. The model has been approximated using the Euler’s equations, and consequently the control action have been gotten in order to obtain the minimum error. The proposed controller is based on linear algebra principles and numeric methods, so it has simplicity as an advantage not only to be understood, but also to be implemented. The simulation and experimentation results show the excellent system performance.