Controle e estabilização de aeronaves não tripuladas submetidas a falhas nos motores

• Ano de defesa: 2024
• Autor(a) principal: Bulhões, Júnio Santos
• Orientador(a): Calixto, Wesley Pacheco
• Banca de defesa: Calixto, Wesley Pacheco, Magalhães, Alana da Silva, Coimbra, Antonio Paulo, Araújo, Wanderson Rainer Hilário de, Martins, Marcella Scoczynski Ribeiro
• Tipo de documento: Tese
• Tipo de acesso: Acesso aberto
• Idioma: por
• Instituição de defesa: Universidade Federal de Goiás
• Programa de Pós-Graduação: Programa de Pós-graduação em Engenharia Elétrica e da Computação (EMC)
• Departamento: Escola de Engenharia Elétrica, Mecânica e de Computação - EMC (RMG)
• País: Brasil
• Palavras-chave em Português: Quadricóptero; Sistemas de controle; Falhas nos motores; Controle por modos deslizantes; Modelagem de sistema; Simulação
• Palavras-chave em Inglês: Quadcopter; Control systems; Motor failures; Sliding mode control; System modeling; Simulation
• Área do conhecimento CNPq: CIENCIAS EXATAS E DA TERRA::CIENCIA DA COMPUTACAO
• Link de acesso: http://repositorio.bc.ufg.br/tede/handle/tede/13469

The objective of this work was to develop a methodology that utilizes control techniques to stabilize unmanned aerial vehicles subjected to engine failures. The methodology includes the creation of a test bench that allows independent rotational movements of ϕ and θ, eliminating translational movements and reducing its interference with the aircraft’s inertia matrix. Control techniques are implemented to stabilize the aircraft in situations of propulsor failure. The experiments demonstrate an improvement in the aircraft’s stability, with a reduction of more than 80% in the effects produced by the failure in the initial moments and the maintenance of stability in scenarios with up to 30% propulsor performance degradation. The proposed method surpasses other approaches in terms of efficiency and preservation of the aircraft’s autonomy. Both the developed test bench and the simulator are validated, and the auxiliary control that operates post-failure is tested in simulation and on the test bench, demonstrating its ability to stabilize the aircraft during failures in one of its propulsors, providing a viable and efficient solution for real-world situations.