Diseño e Implementación de una Estrategia de Control Óptimo para Simulación de un Vehículo Aéreo No Tripulado

Abstract

This paper presents the research work carried out on the implementation of a simulation of the dynamic behavior of a quadricopter, control and performance testing to it, and displayed in a virtual reality environment. The issue of UAVs is highly relevant today as they are very versatile devices making them useful in many applications is why this research is to know the operation from the physical point of view, for designs and implementations of drivers. For this case it is part of the physical modeling compiled some research on modeling cuadricópteros where models with a level of detail that allows mounting a real prototype is obtained, but not the scope of this paper. Later development environments to implement the physical model simulation and 3D CAD design model to receive data generated from the simulation for a very similar view regarding Real behavior are analyzed and the data obtained. Such tools are very useful in engineering projects in control, and thanks to it is possible to implement control strategies for this case emphasis is placed on possible control architectures that can be implemented and perform tests to check for performance improvements by using modern control methods faced with the classic control.