Quadrotor Flight Trajectory Tracking

LQR Desing Introduction

SADA

This was an acquisition board made to capture the sensor data to check the dynamics of a Quadrotor. The interface was made using MATLAB, and all the electronics where design using Kicad. This project was made in 2010-2011, at the Pontificia Universidad Javeriana Colombia.

Overview

In this blog I will try to publish different videos, papers, works about Robotics, Control theory and electronic implementation related to Unmanned Aircrafts as airplanes and different types of helicopters. Right now I am in Rio de Janeiro, studying at the UFRJ (Federal University of Rio de Janeiro), in the MSc course, and I'm developing a project based on a Coaxial Helicopter modelling and control. The project is devided in three parts, in the first part I will be working in the complete mathematical modelling of the helicopter dynamics and the verification of the linear and no linear model. The second part will be based on the design of a Controller that allows the helicopter to stays in a hover position in a indoor enviroment, and the final part will be the implemenatation in the real plant (helicopter) of all this theory to evaluate the real behave of all the system.