Modelling and control system design for uav tri-rotor

Hernando González, Carlos Arizmendi, César Valencia, Diego Valle, Brayam Bernal, Alhim Vera

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The drones are devices of high technology that work thanks to the rotors that allow them to remain and to be propelled in the air. Their movements are controlled by adjusting the propulsion of each propeller and this is done with a device called a flight controller. The paper presents two control system for a UAV-Tricopter. The control techniques proposed are: proportional derivative and integral controller (PID) and Linear Quadratic Gaussian Controller (LQG). These techniques force the tricopter to follow with precision the given trajectory. The simulink toolbox was used to make the designs of each controller and then see the behavior of each control strategy.

Original languageEnglish
Title of host publicationAETA 2019 - Recent Advances in Electrical Engineering and Related Sciences
Subtitle of host publicationTheory and Application
EditorsDario Fernando Cortes Tobar, Vo Hoang Duy, Tran Trong Dao
Number of pages10
ISBN (Print)9783030530204
StatePublished - 2021
Event6th International Conference on Advanced Engineering Theory and Applications, AETA 2019 - Bogota, Colombia
Duration: 6 Nov 20198 Nov 2019

Publication series

NameLecture Notes in Electrical Engineering
Volume685 LNEE
ISSN (Print)1876-1100
ISSN (Electronic)1876-1119


Conference6th International Conference on Advanced Engineering Theory and Applications, AETA 2019


  • LQG controller
  • PID controller
  • UAV-Tricopter


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