Comparación de Técnicas de Control Moderno (Observadores De Estado Vs Lqr) Implementadas Sobre un Ar Drone 2.0 Parrot
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The AR Drone 2.0 is an inexpensive quad rotor that can be managed and monitored from any computer or device, capable of establishing a communication Wi-Fi and handle UDP protocol, from AT codes governing configuration parameters and behavior. Thanks to this versatility and a wide range of research based on the quadrotor today, the decision to use it as experiment plant for this thesis was taken. This paper aims to develop a comparison between two control techniques to improve behavior in flight stability of Quadrotor AR Drone 2.0 in order to define which would be the most appropriate according to the parameters on peak amplitude, settling time and steady-state error. The development of the connection between the AR Drone and the computer and the development of control techniques was strongly supported in the MATLAB software, which facilitated the process of calculation and analysis of the behavior of the models found, thanks to its various specific tools for Control (toolbox). The implementation of the drivers could run in real time thanks to the module "Real Time Windows Target", which allowed to implement an interface that handle the data flow between the control blocks, encoding, decoding, sending and receiving. Then, is presented the development chapters including each of the tools used to reach the fulfillment of the objectives of the project raised, which are disclosed in Chapter 1, that presents the general introduction of the project and its scope. Chapter 2 is disclosed which involves the theoretical framework used as a reference each resource development. Chapter 3 shows the methodological process of developing the project. Chapter 4 shows the results obtained; and finally Chapter 5 provides the definitive conclusions found.