Projeto de um sistema de controle de atitude e estimação de orientação para quadrotores com abordagem não-linear no SO(3).

Abstract

This work presents the application of nonlinear techniques to the problem of rotational control and orientation estimation in quadcopters, focusing on the representation of rotation using elements from SO(3) (Special Orthogonal Group of Third Order) and formulating the problem using LyapunovŠs Theorem for the stability of nonlinear systems applied to geometric control problems. A combined model of estimator, attitude controller, and position controller is proposed and implemented in the Simulink computational simulation environment, where results were produced and analyzed. The estimation errors and trajectory tracking observed in the implemented system show that the use of techniques based on the geometry of rotation provide robustness and rapid convergence of the system to equilibrium.