Construção, identificação, controle e análise de sistemas de estabilidade e posicionamento de um quadrirotor com um grau de liberdade: estudo de caso

Abstract

The pursuit of greater efficiency and competitiveness drives the development of new technologies across various fields. In this context, Unmanned Aerial Vehicles (UAVs) have been widely utilized. This work addresses the construction, system identification, and control of a UAV with one degree of freedom, specifically a quadrotor. Initially, the prototype structure was developed, consisting of a horizontal bar with a movable axis at its center of mass and Brushless motors at the ends. The plant was controlled by an embedded system. The controller was designed as a Type 1 servosystem when the plant includes an integrator. The system parameters were identified using the gray-box approach, which is applied to plants with unknown parameters. To determine these parameters, the Least Squares Method (LSM) was employed, enabling the description of the prototype’s dynamic behavior. With the identified dynamic model, this study proposes the implementation of a modern control strategy, specifically in state-space representation. After model validation, the system was discretized and implemented in the constructed prototype. The results demonstrated that the mathematical model provided an appropriate response to external disturbances, thereby ensuring stability and a rapid return to the operating condition. Finally, it is concluded that the state-space control system is an effective method for unstable models.