Diseño e implementación en una tarjeta embebida de un algoritmo de control por modos deslizantes (SMC) para los ángulos de roll, pitch y yaw de un hexarotor DJI F550

Abstract

Hexarotors are UAVs (Unmanned aerial vehicles) within the type of multirotor, their main characteristics are: their takeoff and landing are performed vertically, they have the ability to stay suspended in one position, aircrafts capable of maintaining a controlled flight in an autonomous way. The DJI F550 hexarotor uses an Arduino DUE embedded card as electronic control or drone brain. The card is connected to an inertial measurement unit (IMU), whose measurements are passed through a smoothing Kalman filter. The filtered data is processed at the embedded card to estimate the orientation angles and then the SMC control for the orientation angles (roll, pitch and yaw angles) is performed. For the movement of the hexarotor a hand control is used, which allows to vary the height and the angles of orientation of the hexarotor in order to control its displacement. In the hexarotor two types of controllers were implemented, the SMC and the PID controlers for the angles of orientation. The operation of these controllers in similar conditions is compared and then using the quadratic error integral method the best controller is shown.