부산대학교 도서관

This work deals with the optimization of pitch-roll angles orientation in a quad-rotor UAV drone system. The control problem is addressed by using PID controllers tuned by using a model-based optimization approach. Results are presented both in simulation and in a real platform. A detailed mathematical model for simulation is presented, as well as its implementation and use in Simulink. The roll-pitch orientation problem is stated. The controller is designed following an IMC model-based approach to determine the initial set of parameters for a PID controller. The dynamic model was obtained by experimenting with the system. As a second step, a multiobjective approach was considering using weighted cost functions that considered IAE and ITAE forms and the battery usage.