Submitted by Lara Oliveira (lara@ufersa.edu.br) on 2017-06-29T22:59:45Z No. of bitstreams: 1 EdpoRM_DISSERT.pdf: 4900218 bytes, checksum: 0b5f0ce9961abf50eb5fe43f882601c0 (MD5) / Rejected by Vanessa Christiane (referencia@ufersa.edu.br), reason: Corrigir referência. on 2017-07-03T12:21:49Z (GMT) / Submitted by Lara Oliveira (lara@ufersa.edu.br) on 2017-07-04T14:22:25Z No. of bitstreams: 1 EdpoRM_DISSERT.pdf: 4900218 bytes, checksum: 0b5f0ce9961abf50eb5fe43f882601c0 (MD5) / Approved for entry into archive by Vanessa Christiane (referencia@ufersa.edu.br) on 2017-07-04T16:48:02Z (GMT) No. of bitstreams: 1 EdpoRM_DISSERT.pdf: 4900218 bytes, checksum: 0b5f0ce9961abf50eb5fe43f882601c0 (MD5) / Approved for entry into archive by Vanessa Christiane (referencia@ufersa.edu.br) on 2017-07-04T16:58:07Z (GMT) No. of bitstreams: 1 EdpoRM_DISSERT.pdf: 4900218 bytes, checksum: 0b5f0ce9961abf50eb5fe43f882601c0 (MD5) / Made available in DSpace on 2017-07-04T17:03:31Z (GMT). No. of bitstreams: 1 EdpoRM_DISSERT.pdf: 4900218 bytes, checksum: 0b5f0ce9961abf50eb5fe43f882601c0 (MD5) Previous issue date: 2017-02-17 / Coordenação de Aperfeiçoamento de Pessoal de Nível Superior / This dissertation proposes the development of a Fuzzy-PID hybrid controller for the height stability control of a four-engine type UAV. The work also contemplates the development of a classical PID controller, used to compare with the hybrid one purposed. The AuRoRA platform is used for the realization of tests with both of the control structures, being this one provided with the parameters of the Drone used. With the test results, it was possible to conclude that both of the controllers, the classical PID and the Fuzzy-PID, are able to perform the Drone height control, and the hybrid control obtained some advantages such as the ability of self-adjust with the system variation, that dispenses the manual tuning of the gains, besides presenting an improvement in the Drone height stability / Esta dissertação propõe o desenvolvimento de um controlador híbrido Fuzzy-PID para o controle de estabilidade de altura de um VANT do tipo quadrirrotor. O trabalho ainda contempla o desenvolvimento de um controlador PID clássico, utilizado para fins de comparação com o controlador híbrido proposto. A plataforma AuRoRA é utilizada para a realização dos testes com ambas as estruturas de controle, sendo a mesma munida dos parâmetros do Drone utilizado. Com os resultados dos testes, foi possível verificar que ambos controladores, PID clássico e Fuzzy-PID, são capazes de realizar o controle de altura do Drone, tendo o controle híbrido obtido algumas vantagens como a capacidade de auto ajuste mediante variações no sistema, o que dispensa as sintonias manuais dos ganhos, além de apresentar uma melhoria na estabilidade da altura do Drone / 2017-06-29