Implementação de sistema de controle de atitude para VANT de asa fixa sob condições controladas

Abstract

This work presents the implementation of an attitude control system for a fixed-wing Unmanned Aerial Vehicle (UAV) equipped with a gimbal and subjected to uniform wind tunnel airflow. An ESP32 microcontroller—integrated with inertial sensors, servomotors, and a radio control system—was used to receive attitude references and apply corrective signals to the actuators. Pitch and roll motion transfer functions were experimentally derived via step-response tests and processed in MATLAB using the `tfestimate` tool. The identified models enabled the creation of Simulink simulations for PID controller calibration. Results indicated good system performance in pitch control, characterized by stability and minimal oscillation. However, roll control proved more challenging due to the prototype's inherent instability, resulting from geometric imperfections and aileron inconsistencies. Despite these limitations, the implemented controller successfully stabilized the UAV against external disturbances and tracked radio-controlled references, demonstrating the proposed system's viability. Finally, suggestions for improvements and future work are provided, including structural corrections to the airframe, controller refinement, and the integration of additional sensors.