Quadrirotor control using slinding modes technique

• Grant number: 15/19536-3
• Support Opportunities: Scholarships in Brazil - Scientific Initiation
• Start date: June 01, 2016
• End date: May 31, 2017
• Field of knowledge: Engineering - Electrical Engineering - Industrial Electronics, Electronic Systems and Controls
• Principal Investigator: Paulo Sérgio da Silva
• Grantee: Lucas Morvillo
• Host Institution: Faculdade de Engenharia (FE). Universidade Estadual Paulista (UNESP). Campus de Bauru. Bauru , SP, Brazil

Abstract

Currently, unmanned aerial vehicles (UAVs) have become an important tool for both civil and military purposes, arousing admiration and interest. The rapid growth of research in this area is notorious and its applicability is vast. In line with this growing interest, this undergraduate research work aims to study mathematical modeling and control of a specific model of UAV: the quadrotor. According to the literature, the quadrotor presents better performance and value for money in comparison to other types of UAVs. The mathematical models that describe the dynamics of body-rigid and the non-linear control of a quadrotor, through the technique of sliding mode will be implemented in Simulink, an interactive environment for simulation of dynamic systems present in MATLAB software. The results of the simulations will be analyzed by appropriate performance indices. These results will form the basis for future projects aimed at comparing different control techniques in order to characterize what is most convenient for this type of UAV. (AU)