Banca de DEFESA: RODRIGO SANTOS LEONELLO

Uma banca de DEFESA de MESTRADO foi cadastrada pelo programa.
STUDENT : RODRIGO SANTOS LEONELLO
DATE: 01/04/2022
TIME: 09:00
LOCAL: Conferência Web
TITLE:

AR.DRONE 2.0 QUADROTOR PATH CONTROL VIA LQR AND Hinfinity APPROACHES

KEY WORDS:

LQR, H1 control, optimal control, quadcopter, model identification, LMI

PAGES: 76
BIG AREA: Engenharias
AREA: Engenharia Elétrica
SUBÁREA: Eletrônica Industrial, Sistemas e Controles Eletrônicos
SPECIALTY: Controle de Processos Eletrônicos, Retroalimentação
SUMMARY:

This work presents an experimental study of two control techniques based on the Optimal Control theory, applied to an unmanned aerial vehicle (UAV). The first technique, based on the quadratic cost function, is the LQR controller. The second technique optimizes the norm Hinfinity taking into account the pole allocation and using an approach based on LMIs. The mathematical modeling of the vehicle is presented, along with experiments to carry out the identification and validation of the model's parameters. Furthermore, practical tests are carried out in order to investigate the performance of each controller, with and without the presence of external disturbances. The test platform used is the quadrotor AR.Drone 2.0 and the algorithms are implemented in the Robot Operating
System (ROS).

BANKING MEMBERS:
Presidente - 1677082 - HUMBERTO XAVIER DE ARAUJO
Interno - 1652496 - ANDRE GUSTAVO SCOLARI CONCEICAO
Interno - 2044563 - BERNARDO ORDONEZ
Externo à Instituição - ELY CARNEIRO DE PAIVA - UNICAMP
Externo à Instituição - ALEXANDRE SANTOS BRANDÃO - UFV