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2017 | OriginalPaper | Buchkapitel

Modeling, Control and Simulation of a Quadrotor for Attitude Stabilization

verfasst von : Bárbara B. Carlos, Antonio É. R. M. de Oliveira, Auzuir R. de Alexandria, Rejane C. Sá, Antonio W. O. Rodrigues

Erschienen in: Applied Computer Sciences in Engineering

Verlag: Springer International Publishing

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Abstract

Unmanned Aerial Vehicle (UAV) are increasingly playing an important role in various fields of application and their development, with the advancement and decreasing cost of technology, became simpler. In this paper we present a mathematical model for a quadrotor and different control strategies. The control task is based on the discretization of the system by Tustin’s Method to achieve the angular stabilization of the quadrotor. The proposed approach shows the standard single loop and nested loop model, hierarchizing the mid-level attitude control, evaluating the performance of a P, PD and P-P controllers obtained by linearizing the plant’s dynamics around an equilibrium point. Simulation results compared the proposed controllers providing a possible solution for future implementation.

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Metadaten
Titel
Modeling, Control and Simulation of a Quadrotor for Attitude Stabilization
verfasst von
Bárbara B. Carlos
Antonio É. R. M. de Oliveira
Auzuir R. de Alexandria
Rejane C. Sá
Antonio W. O. Rodrigues
Copyright-Jahr
2017
DOI
https://doi.org/10.1007/978-3-319-66963-2_2