Título: | MULTI-OBJECTIVE CONTROL OF ALTITUDE FOR UNMANNED AERIAL VEHICLE | ||||||||||||
Autor(es): |
PETRUS VINICIUS BALLHAUSEN ARRUDA |
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Colaborador(es): |
HELON VICENTE HULTMANN AYALA - Orientador |
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Catalogação: | 10/FEV/2020 | Língua(s): | PORTUGUESE - BRAZIL |
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Tipo: | TEXT | Subtipo: | SENIOR PROJECT | ||||||||||
Notas: |
[pt] Todos os dados constantes dos documentos são de inteira responsabilidade de seus autores. Os dados utilizados nas descrições dos documentos estão em conformidade com os sistemas da administração da PUC-Rio. [en] All data contained in the documents are the sole responsibility of the authors. The data used in the descriptions of the documents are in conformity with the systems of the administration of PUC-Rio. |
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Referência(s): |
[pt] https://www.maxwell.vrac.puc-rio.br/projetosEspeciais/TFCs/consultas/conteudo.php?strSecao=resultado&nrSeq=46791@1 [en] https://www.maxwell.vrac.puc-rio.br/projetosEspeciais/TFCs/consultas/conteudo.php?strSecao=resultado&nrSeq=46791@2 |
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DOI: | https://doi.org/10.17771/PUCRio.acad.46791 | ||||||||||||
Resumo: | |||||||||||||
Unmanned aerial vehicles have a wide application due to their simple and
easy operation, small dimensions, vertical takeoff and landing capability,
hover flight and high maneuverability. The major disadvantage lies mainly
in the limited range because the lift is guaranteed only by the continuous
rotation of the propellers. This project proposes a digital PID controller for
a quadrotor altitude control. Through simulations the performance of the
controller was evaluated. Gains and parameters were adjusted to minimize
power consumption of the powertrain and vertical trajectory error. An
optimization was performed using a multi-objective evolutionary algorithm.
As a result, the non-dominated sorting genetic algorithm II (NSGA-II) has
converged to solutions that perform well in increasing flight autonomy and
accuracy during the landing and vertical takeoff phase.
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