Diseño e implementación de minidrones (mini UAVs) : Desarrollo y simulación de algoritmos de seguimiento de trayectorias de minidrones.

Abstract

This document shows the design and simulation of three controlRosales Acosta, Jorge Andréslers for the trajectory tracking of a mini UAV (Unmanned Aerial Vehicle). During the development of the control, a simple mathematical model of a quadcopter that represents the behavior of the same is taken into consideration, which allows manipulating the six degrees of freedom that make up the operation of the mini UAV; three degrees for the angular position (roll, pitch and yaw) and three degrees for the linear position (x and z axes). From the cascaded PID and PD controls the position in the x - y axes is controlled by the external loop, and the internal loop that has as reference the output of the external loop controls the roll - pitch angles. The altitude reached by the aircraft is controlled from a PID and the yaw angle is also controlled from a PID. The LQR control, being a feedback gain control, allows the minimization of a cost function from matrices to determine the gain and thus, control the flight parameters of a quadcopter. Through the analysis of the responses obtained with the proposed controls, it is possible to differentiate that the PD control presents less over impulses in the change of references and also less stabilization time.