Diseño y simulación del control para el cuadrirrotor disponible en la herramienta UAV Toolbox de Simulink para efectuar el seguimiento de un objeto móvil terrestre usando circunnavegación.

Abstract

In this final degree project, we present the design and simulation of the control of a quadcopter available in the UAV Toolbox of Simulink, so it can track a terrestrial mobile object using circumnavigation. To achieve this goal, a study about handling quadcopter drones and about different controllers for its movement are carried out. The implementation of a PID type controller and a Lyapunov-based controller is developed. Both allow to drive the quadcopter available in the UAV Toolbox of Simulink and to circumnavigate a terrestrial mobile object. Therefore, the front of the UAV has to be pointing towards the object being tracked at all times. To achieve this task, the drone's position and orientation are controlled. The comparison of the proposed controllers is performed by using performance indices. The simulation results are shown through a graphical interface developed in MATLAB App Designer, in which the behavior of the quadcopter is visualized when following predefined trajectories and circumnavigating a mobile terrestrial object. Control signals, errors, and performance indexes from the different tests are also shown in the interface.