Medeiros, Adelardo Adelino Dantas deGuimarães, João Paulo Ferreira2014-12-172013-05-092014-12-172012-12-19GUIMARÃES, João Paulo Ferreira. Controle de atitude e altitude para um veículo aéreo não tripulado do tipo quadrirrotor. 2012. 69 f. Tese (Doutorado em Automação e Sistemas; Engenharia de Computação; Telecomunicações) - Universidade Federal do Rio Grande do Norte, Natal, 2012.https://repositorio.ufrn.br/jspui/handle/123456789/15212A Quadrotor is an Unmanned Aerial Vehicle (UAV) equipped with four rotors distributed on a simple mechanical "X"form structure. The aim of this work is to build and stabilize a Quadrotor aircraft in the roll, pitch and yaw angles at a certain altitude. The stabilization control approach is based on a transformation in the input variables in order to perform a decoupled control. The proposed strategy is based on breaking the control problem into two hierarchical levels: A lower level, object of this work, maintains the desired altitude an angles of the vehicle while the higher level establishes appropriate references to the lower level, performing the desired movements. A hardware and software architecture was specially developed and implemented for an experimental prototype used to test and validate the proposed control approachapplication/pdfAcesso AbertoVANT. Quadrirrotor. Controle de atitude e altitude. Controle desacopladoUAV. Quadrotor. Attitude and altitude control. Decoupled controllerdoctoralThesisCNPQ::ENGENHARIAS::ENGENHARIA ELETRICA