Controle de Atitude Híbrido de um Quadricóptero: PID e Redes Neurais Artificiais

Resumo

A quadcopter is a helicopter with four rotors, that make the vehicle
more stable but more complex to model and to control. A quadcopter has six
degrees of freedom, three of them regarding the position: height, horizontal
and vertical motions; and the other three are related to the orientation: pitch,
roll and yaw. This paper presents a study of using Neural Artificial Networks
and PID control applied to the attitude control of a real quadcopter.