Modelling and application of μ-synthesis for hovering quad-rotor

Abstract

It is known that nowadays control engineering is more and more used due to the utility in the development that is has in different branches of the engineering. That utility is based in the simplicity in the representation of the different elements and systems that make easier the development of the work. As it will be explained, inside the control engineering there is more than one branch. In this paper the application of the robust control to a small quad-rotor is explained, and specifically the implantation of μ-synthesis on a quad-rotor, in order to get a controller which it will help to the device to fly in a straight and level flight. For that aim, firstly a short review of the history of the control engineering is made. After, deep explanation of robust control and commands that are going to be used in the development of the work are shown, in order to introduce the elements that are used in the following work. In the second chapter the device that is used for the application of the μ-synthesis is explained. As it was explained in the paragraphs above, the device that is chosen is a small quad-rotor. In the chapter dynamics and cinematic models are explained. After, Simulink and linearization of the system are shown. It is in the third chapter where μ-synthesis is explained deeply in order to see how it works in the one of the controller that is applied. After the explanation, different controllers that are got will be shown, in order to see which one of the gets in better way the aim of this work. At the same time, with the data that are got in the development, it will be possible see if the system got is close to the reality and it can be used to simulate or not. After getting the appropriate controller and check that the simplification of the system is correct, in the fourth chapter wind disturbances and noises will be introduced in the Simulink model in order to make the simulation more realistic. Finally in the last chapter, after the discussion of the result, conclusions about the work are shown in order to see if the main of the project is got or not. Also, an annex can be found in the last pages with all the Matlab functions that are used in the development of the work