Modelado y control robusto de un Vehículo Aéreo no Tripulado Quadrotor, en ambientes cerrados

Abstract

This research presents modeling procedures and controller designs applied to Unmanned Aerial Vehicles (UAV), specifically Quadrotors. The classic control techniques presents many complications, therefore, the contribution of this research is the methodology for designing a robust nonlinear control technique to control the orientation subsystem of the quadrotor. The elevation subsystem is designed with a classic PID controller.