Abstract

ALLENDE-PENA, Jacobo Marcos; RODRIGUEZ-PAREDES, Salvador Antonio  and  SALMERON-QUIROZ, Bernardino Benito. Control and signal filtering system for a quadcopter; analysis, comparison and implementation via low-cost IMU and microcontroller. Ing. invest. y tecnol. [online]. 2021, vol.22, n.2.  Epub July 30, 2021. ISSN 2594-0732.  https://doi.org/10.22201/fi.25940732e.2021.22.2.015.

This work presents the development, analysis and comparison of dynamic models, to implement in a simple way a filtering and control system for a quadcopter through the use of a microcontroller. A non-linear dynamic model obtained from the Euler Lagrange equations is approached; also a simplified non-linear model from the first model and a linear model are obtained. Subsequently, making use of each model, controllers are designed using the computed torque controller technique, then, their performance index is obtained through numerical simulations applied to the complete non-linear model to compare their response. Afterward, with the various models and through observers and Kalman filters, signal filtering systems are synthesized for a low-cost Inertial Measurement Unit (IMU), the filtering results are also compared using a performance index. Additionally, the proposed controller is compared in simulation with a fuzzy logic controller. Finally, the selection of the model, the controller and filtering are validated through experimentation with a quadcopter prototype developed by the authors, based on an experimental platform with four rotors, a fiberglass structure, a microcontroller and an IMU MPU 6050.

Keywords : Quadcopter; model analysis; computed torque controller; Kalman filter; observer; low-cost IMU; implementation; microcontroller.