Regulador Linear Quadrático iterativo para Controle de Atitude de um Quadricóptero

Resumo

The quadrirotor is an aircraft which has a vertical takeoff and landing. Due to the mechanical simplicity
many papers have been published recently, proposing numeric methods to increase the reliability on flights. This
work presents the development of a dynamic model of a quadcopter that was obtained from the Newton-Euler
formalism and also the development of a control system using iLQR (iteractive Linear Quadratic Regulator) with
a time variant system considering the gyroscopic effect generated by the angular velocity from the frame. The
method must be able to stabilize and act on the trajectory compliance of a quadcopter. The model was built in
SolidWors to extract the moments of inertia required for the mathematical model and the prototype was built by
hand using aluminum profiles and brushless motors A simulation was developed on the MATLAB®️ platform from
the model obtained to check the proposed control, and then analyze the experimental flights, where the
simplifications on the mathematical model will be verified..