Identificación y control de un Vehículo Aéreo no Tripulado tipo Quadcopter
In this article a dynamic model of an UAV QuadCopter is described, it is linearized around an operating point and a state feedback algorithm is applied which manages to arrive to a steady state in 100ms. A least Square MIMO identification algorithm is applied to the nonlinear model obtaining a mean...
| Autor Principal: | Muñoz Gutiérrez, Pablo Andrés |
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| Otros Autores: | Giraldo Suárez, Eduardo, Bonilla Becerra, Jhon Abraham |
| Formato: | info:eu-repo/semantics/article |
| Idioma: | spa |
| Publicado: |
Editorial bonaventuriana
2018
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| Materias: | |
| Acceso en línea: |
Muñoz Gutiérrez, P. A., Giraldo Suárez, E., & Bonilla Becerra, J. A. (2016). Identificación y control de un Vehículo Aéreo no Tripulado tipo Quadcopter. Revista de Ingenierías USBmed, 7(1), 5–10. https://doi.org/10.21500/20275846.1801 |
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| Sumario: |
In this article a dynamic model of an UAV QuadCopter is described, it is linearized around an operating point and a state feedback algorithm is applied which manages to arrive to a steady state in 100ms. A least Square MIMO identification algorithm is applied to the nonlinear model obtaining a mean square error of 0.2562 degrees in a 50 seconds simulation; subsequently an LQR algorithm is applied which achieves to identify and control the initial system in 3.7s The LQR algorithm is compared to a conventional PID controller obtaining as result a shorter stablishing time and better reference tracking in the LQR controller. |
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