Richard Alfonso Andrade Alfaro PREDICTIVE CONTROL STRATEGIES FOR UNMANNED AERIAL ...

145 Pages·2016·7.44 MB·English

Richard Alfonso Andrade Alfaro
PREDICTIVE CONTROL STRATEGIES FOR
UNMANNED AERIAL VEHICLES IN CARGO
TRANSPORTATION TASKS
Dissertac¸a˜o submetida ao Programa
de Po´s-Graduac¸˜ao em Engenharia
de Automac¸a˜o e Sistemas para
a obtenc¸a˜o do Grau de Mestre
em Engenharia de Automa¸ca˜o e
Sistemas.
Orientador: Prof. Dr. Julio Elias
Normey Rico - PGEAS - UFSC
Co-orientador: Prof. Dr. Guilherme
Vianna Raffo - PPGEE - UFMG
Florian´opolis
2016
Ficha de identificação da obra elaborada pelo autor,
através do Programa de Geração Automática da Biblioteca Universitária da UFSC.
Alfaro, Richard Alfonso Andrade
Predictive control strategies for unmanned aerial
vehicles in cargo transportation tasks / Richard Alfonso
Andrade Alfaro ; orientador, Julio Normey-Rico ;
coorientador, Guilherme Raffo. - Florianópolis, SC, 2016.
145 p.
Dissertação (mestrado) - Universidade Federal de Santa
Catarina, Centro Tecnológico. Programa de Pós-Graduação em
Engenharia de Automação e Sistemas.
Inclui referências
1. Engenharia de Automação e Sistemas. 2. Controle
preditivio baseado em modelo. 3. Tilt-rotor. 4. Veículo
aéreo não tripulado. 5. Transporte de carga. I. Normey
Rico, Julio. II. Raffo, Guilherme. III. Universidade
Federal de Santa Catarina. Programa de Pós-Graduação em
Engenharia de Automação e Sistemas. IV. Título.
Richard Alfonso Andrade Alfaro
PREDICTIVE CONTROL STRATEGIES FOR
UNMANNED AERIAL VEHICLES IN CARGO
TRANSPORTATION TASKS
EstaDissertac¸˜aofoijulgadaaprovadaparaaobten¸c˜aodoT´ıtulo
de “Mestre em Engenharia de Automa¸c˜ao e Sistemas”, e aprovada em
sua forma final pelo Programa de P´os-Graduac¸˜ao em Engenharia de
Automa¸c˜ao e Sistemas.
Florian´opolis, 28 de marc¸o 2016.
Prof. Dr. Rˆomulo Silva de Oliveira
PGEAS - UFSC
Coordenador do Programa de P´os-Graduac¸˜ao em Engenharia de
Automa¸c˜ao e Sistemas
Prof. Dr. Julio Elias Normey Rico - PGEAS - UFSC
Orientador
Prof. Dr. Guilherme Vianna Raffo - PPGEE - UFMG
Co-orientador
Banca Examinadora:
Prof. Julio Elias Normey Rico, Dr.
PGEAS - UFSC
Presidente
Prof. Antonio Ferramosca, Dr.
FRRq-UTN
Prof. Leandro Buss Becker, Dr.
PGEAS - UFSC
Prof. Douglas Wildgrube Bertol, Dr.
DEE-UDESC
To my caring parents, Fabian and
Fanncy, and to my love, Nathaly.

ACKNOWLEDGMENTS
I thank my parents for their support throughout my life, who
haveaccompaniedmeinmyvictoriesandmydefeats,whohavealways
encouraged me to continue and fulfill my dreams and desires. Them
with their daily efforts and teachings have allowed me to grow as a
person and as a professional. I give special thanks to Nathaly who has
led me do things I never imagined. Thank you for being by my side
while developing this project and for helping me.
I would also like to thank my advisors, Julio Normey Rico,
and Guilherme Vianna Raffo, for the opportunity given to me and
for supporting me with great disposition throughout my thesis. I
appreciate all you have done for me.
I am grateful for all the support from the members of Project
ProVANT: Patrick, Fernando, Davinder, Gabriel.
I like to thank The Agreement-Graduate Student Program
(PEC-PG) of the Brazilian research agencies Capes/CNPq for their
support in this dissertation.

The mind, once stretched by a new idea,
never returns to its original dimensions.
(Ralph Waldo Emerson)