Automatización de un hexacóptero para despegue, aterrizaje y vuelo en un camino cerrado

Abstract

Unmanned Aerial Vehicles or UAV are important tools used today, for home, military and industry applications, and increasingly improvements are requires in the automation of flight, payload and autonomy. The automation of hexacopter for takeoff, landing and flight in a closed path, is developed in this project, using sliding mode control technique or SMC. This controller consists of a slow continuous part and another fast and discontinuous, that seeks to maintain the correct functioning of the model inside of a sliding surface otherwise it should take immediate correctives. Mathematical design and simulation on computational software (MATLAB) are detailed, however to check progress and technological development, the PID controller and its simulation on MISSION PLANNER computer software was developed to finally make a comparison between the control system designed in the project and the one used commercially, it is synthesized in a comparative table, giving as result better characteristics from the SMC over the PID controller.