@conference {Tesch:Eckhard:Guarienti:2016,
	title = {Pitch and Roll control of a Quadcopter using Cascade Iterative Feedback Tuning},
	booktitle = {4th {IFAC} Symposium on Telematics Applications},
	year = {2016},
	note = {n/a},
	pages = {30{\textendash}35},
	publisher = {IFAC},
	organization = {IFAC},
	address = {Porto Alegre},
	abstract = {<p>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.</p>
},
	issn = {2405{\textendash}8963},
	doi = {10.1016/j.ifacol.2016.11.118},
	author = {D. A. Tesch and D. Eckhard and W. C. Guarienti}
}
