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Título: MULTI-OBJECTIVE CONTROL OF ALTITUDE FOR UNMANNED AERIAL VEHICLE
Autor(es): PETRUS VINICIUS BALLHAUSEN ARRUDA
Colaborador(es): HELON VICENTE HULTMANN AYALA - Orientador
Catalogação: 10/FEV/2020 Língua(s): PORTUGUESE - BRAZIL
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.
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
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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