Abstract
This work aims to present the development and study of a nonlinear system structure capable of moving in one degree of freedom, performed by a brushless motor coupled to a propeller. For this, the mathematical modeling of the developed structure was based on resembling a simple physical pendulum. Regarding the system control, two techniques were considered: PID and Fuzzy, implemented in Matlab. Simulation tests were carried out to validate and compare the control technique results with different input signals. Both controller topologies tracked the respective setpoints, but Fuzzy controller had the best system performance. The structure developed can serve as a base platform for future improvements, studies, and experiment tests, such as the analysis of motion in the horizontal plane.
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