<?xml version="1.0" encoding="UTF-8"?><xml><records><record><source-app name="Biblio" version="6.x">Drupal-Biblio</source-app><ref-type>47</ref-type><contributors><authors><author><style face="normal" font="default" size="100%">D. A. Tesch</style></author><author><style face="normal" font="default" size="100%">D. Eckhard</style></author><author><style face="normal" font="default" size="100%">W. C. Guarienti</style></author></authors></contributors><titles><title><style face="normal" font="default" size="100%">Pitch and Roll control of a Quadcopter using Cascade Iterative Feedback Tuning</style></title><secondary-title><style face="normal" font="default" size="100%">4th {IFAC} Symposium on Telematics Applications</style></secondary-title></titles><dates><year><style  face="normal" font="default" size="100%">2016</style></year></dates><publisher><style face="normal" font="default" size="100%">IFAC</style></publisher><pub-location><style face="normal" font="default" size="100%">Porto Alegre</style></pub-location><pages><style face="normal" font="default" size="100%">30–35</style></pages><language><style face="normal" font="default" size="100%">eng</style></language><abstract><style face="normal" font="default" size="100%">&lt;p&gt;Quadcopter is a type of Unmanned Aerial Vehicle which is lifted and propelled by four rotors. The vehicle has a complex non-linear dynamic which makes the tuning of the roll and pitch controllers difficult. Usually the control design is based on a mathematical model which is strongly related to physical components of vehicle: mass, moment of inertia and aerodynamic. When a tool is attached to the vehicle, a new model must be computed to redesign the controllers. In this article we will adjust the controllers of a real experimental quadcopter using the Cascade Iterative Feedback Tuning method. The method is data-driven, so it does not uses a model for the vehicle; all it uses is input-output data collect from the closed-loop system. The method minimizes the \{H2\} error between the desired response and the actual response of the vehicle angle using the Newton-Raphson algorithm. The method achieves the desired performance without the need of the vehicle model, with low cost and low complexity.&lt;/p&gt;
</style></abstract><notes><style face="normal" font="default" size="100%">n/a</style></notes></record></records></xml>