CREEM2024

CREEM 2024 - XXX Congresso Nacional de Estudantes de Engenharia Mecânica

CONTROLE DE MICRO VANT BIOINSPIRADO USANDO DESIGUALDADES MATRICIAIS

Submission Author: João Pedro Godoy Nunes da Cunha , SP , Brazil
Co-Authors: João Pedro Godoy Nunes da Cunha, Douglas Bueno
Presenter: João Pedro Godoy Nunes da Cunha

doi://10.26678/ABCM.CREEM2024.CRE2024-0097

 

Abstract

Unmanned aerial vehicles (UAVs) have been used in several applications. In the current scenario, which comprises the involvement of important companies in different parts of the world, has a growing set of potential applications, which should have a relevant impact on agricultural, entertainment, domestic cas, in addition to transforming the aeronautical, military and industrial sectors in general. However, the engineering community must also overcome various technical challenges to ensure safety, efficiency and precision in carrying out tasks employing UAVs. In particular, for the class of bioinspired UAVs, the challenges are even greater given the relative limited availability of jobs. In this sense, the present work presents a dynamic analysis of a bioinspired micro UAV, also considering the use of Lyapunov matrix inequality to develop a state feedback controller. Computational results are presented and show that the effect of gravitational force on the flight dynamics requires an amplification of the control signal, calculated by the controller, to reduce the deviation of the actual trajectory from the desired one. It is demonstrated that matrix inequalities are an important tool to support the development of this new class of UAVs.

Keywords

Bioinspired micro UAVs, Espace of States, Energy by Lyapunov, Linear Matrix Inequalities

 

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