Estudo comparativo de estratégias Proporcional e Proporcional-Integral para o controle de trajetória de quadrirrotores com atrasos variáveis

Abstract

The purpose of this work is to present an anlytical comparison between Proportional and Proportional-Integral control strategies for controlling the trajectory of quadrirotors with respect to the maximum allowable time-varying delay bound. The Proportional controller with feedforward action of the reference control action and a two degree-of-freedom PI are considered. The main contribution of this article is to analytically formalize the impact of the integral action with respect to the time-varying delay margins. The proposed controllers were analyzed with the aid of Gazebo-based simulation (Ar Drone 2.0) to illustrate potential benefits and drawbacks of each solution.