En este trabajo se desarrollaron 2 estrategias de control para un cuadric optero, para
seguimiento de trayectorias. Inicialmente se de nen la caracter sticas generales de la
aeronave, posteriormente se describe la cinem atica de la misma para comprender su
funcionamiento y poder modelar su din amica. En la parte de modelado se realiza
un estudio por el m etodo Euler-Lagrange, el cual se basa en analizar las energ as
del sistema para poder obtener las ecuaciones que rigen su din amica. Posteriormente
se desarrolla un control PID y un control Backstepping para el seguimiento de trayectorias,
donde se busca robustecer el sistema y llevarlo adecuadamente a distintos
puntos de equilibrio. Finalmente para comprobar la acci on de las leyes de control, se
realizaron de las simulaciones correspondientes y se realiza una transformaci on de las
variables de rotaci on a variables de posici on para poder asignar f acilmente una trayectoria
deseada. Dichas simulaci on se realizaron con el software MatLab Simulink,
donde a su vez es posible simular perturbaciones en el sistema obteniendo resultados
muy cercanos a la realidad.
Palabras clave: Cuadricóptero, PID, Backstepping, Modelado Dinámico, Seguimiento
de trayectorias.
Abstract
In this work, two control strategies were developed for a quadcopter, to follow trajec- tories. Initially the general characteristics of the aircraft are defined, the kinematics of the aircraft is described later to understand its operation and to be able to model its dynamics. In the modeling part, a study is carried out by the Euler-Lagrange method, which is based on analyzing the energies of the system in order to obtain the equations that govern its dynamics. Subsequently a PID control and a Backstep- ping control are developed for trajectory tracking, where it is sought to strengthen the system and take it appropriately to different points of equilibrium. Finally, to verify the action of the control laws, the corresponding simulations were carried out and a transformation of the rotation variables to position variables was performed in order to be able to easily assign a desired trajectory. These simulations were per- formed with the software MatLab Simulink, which in turn is possible to simulate disturbances in the system obtaining results very close to reality.
Keywords: Quadcopter, PID, Backstepping, Dynamic Modeling, Follow Trajec- tories .
