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The aim of this project is to model and control a quadrotor.
The project starts introducing the quadrotor and its parts. After that, the project provides
the modelling of the dynamics of the quadrotor using the Lagrange-Euler and the
Newton-Euler's approaches. The next part focuses in the design of a controller for the main
actions of the quadrotor using the equations of the dynamics. The chosen controller is a PD,
for its simplicity and acceptable performance. With the controller designed, the aircraft was
tested to verify the simplifications made on the controller. To that, first some simulations
using Simulink (Matlab) were done. After that, further experiments were done with the
The good results of the simulations justified the validity of the simplifications and the
controller. Furthermore, although it was necessary to add other PD to the previous one,
forming a cascaded PID controller, the results of the real experiments were acceptable.
Finally, the project contains the explanation and application of a method to optimize
the parameters of the controller, and to find the real values of parameters of the model
dificult to measure directly, as the inertia.
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