DEVELOPMENT OF DYNAMIC MODELING AND CONTROL TECHNIQUES FOR A UNMANNED AERIAL VEHICLE (UAV) OF THE QUADCOPTER TYPE
This dissertation aims at the modeling, control and simulation of an unmanned aerial vehicle (UAV) of the quadrirotor type, using a linearized dynamic modeling based on Newtonian formalism, making use of the hypothesis of small angles, resulting in a
translational and rotational system. Bearing in mind that the UAV will act autonomously, techniques that will enable such control will be used, they will be: SDRE (State-Dependent Riccati Equation), Backestepping e Feedback-linearization, bearing in both techniques the pitch and roll angles are indirectly controlled so that the positions can be controlled. The UAV must follow predetermined trajectories, as it will not have human interference at the time of Flight. A performance analysis of the control techniques applied to the UAV is performed, seeking to evaluate which one has better performance in the tasks assigned to
the aerial vehicle.