<?xml version="1.0" encoding="ISO-8859-1"?><article xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance">
<front>
<journal-meta>
<journal-id>1405-7743</journal-id>
<journal-title><![CDATA[Ingeniería, investigación y tecnología]]></journal-title>
<abbrev-journal-title><![CDATA[Ing. invest. y tecnol.]]></abbrev-journal-title>
<issn>1405-7743</issn>
<publisher>
<publisher-name><![CDATA[Universidad Nacional Autónoma de México, Facultad de Ingeniería]]></publisher-name>
</publisher>
</journal-meta>
<article-meta>
<article-id>S1405-77432021000200007</article-id>
<article-id pub-id-type="doi">10.22201/fi.25940732e.2021.22.2.015</article-id>
<title-group>
<article-title xml:lang="en"><![CDATA[Control and signal filtering system for a quadcopter; analysis, comparison and implementation via low-cost IMU and microcontroller]]></article-title>
<article-title xml:lang="es"><![CDATA[Sistema de control y filtrado de señales para un quadrotor; análisis, comparación e implementación mediante IMU de bajo costo y microcontrolador]]></article-title>
</title-group>
<contrib-group>
<contrib contrib-type="author">
<name>
<surname><![CDATA[Allende-Peña]]></surname>
<given-names><![CDATA[Jacobo Marcos]]></given-names>
</name>
<xref ref-type="aff" rid="Aff"/>
</contrib>
<contrib contrib-type="author">
<name>
<surname><![CDATA[Rodríguez-Paredes]]></surname>
<given-names><![CDATA[Salvador Antonio]]></given-names>
</name>
<xref ref-type="aff" rid="Aff"/>
</contrib>
<contrib contrib-type="author">
<name>
<surname><![CDATA[Salmerón-Quiroz]]></surname>
<given-names><![CDATA[Bernardino Benito]]></given-names>
</name>
<xref ref-type="aff" rid="Aff"/>
</contrib>
</contrib-group>
<aff id="Af1">
<institution><![CDATA[,Instituto Politécnico Nacional Sección de Estudios de Posgrado e Investigación de la ESIME Azcapotzalco ]]></institution>
<addr-line><![CDATA[ ]]></addr-line>
<country>Mexico</country>
</aff>
<aff id="Af2">
<institution><![CDATA[,Instituto Politécnico Nacional Sección de Estudios de Posgrado e Investigación de la ESIME Azcapotzalco ]]></institution>
<addr-line><![CDATA[ ]]></addr-line>
<country>Mexico</country>
</aff>
<aff id="Af3">
<institution><![CDATA[,Instituto Politécnico Nacional Sección de Estudios de Posgrado e Investigación de la ESIME Azcapotzalco ]]></institution>
<addr-line><![CDATA[ ]]></addr-line>
<country>Mexico</country>
</aff>
<pub-date pub-type="pub">
<day>00</day>
<month>06</month>
<year>2021</year>
</pub-date>
<pub-date pub-type="epub">
<day>00</day>
<month>06</month>
<year>2021</year>
</pub-date>
<volume>22</volume>
<numero>2</numero>
<fpage>0</fpage>
<lpage>0</lpage>
<copyright-statement/>
<copyright-year/>
<self-uri xlink:href="http://www.scielo.org.mx/scielo.php?script=sci_arttext&amp;pid=S1405-77432021000200007&amp;lng=en&amp;nrm=iso"></self-uri><self-uri xlink:href="http://www.scielo.org.mx/scielo.php?script=sci_abstract&amp;pid=S1405-77432021000200007&amp;lng=en&amp;nrm=iso"></self-uri><self-uri xlink:href="http://www.scielo.org.mx/scielo.php?script=sci_pdf&amp;pid=S1405-77432021000200007&amp;lng=en&amp;nrm=iso"></self-uri><abstract abstract-type="short" xml:lang="en"><p><![CDATA[Abstract This work presents the development, analysis and comparison of dynamic models, to implement in a simple way a filtering and control system for a quadcopter through the use of a microcontroller. A non-linear dynamic model obtained from the Euler Lagrange equations is approached; also a simplified non-linear model from the first model and a linear model are obtained. Subsequently, making use of each model, controllers are designed using the computed torque controller technique, then, their performance index is obtained through numerical simulations applied to the complete non-linear model to compare their response. Afterward, with the various models and through observers and Kalman filters, signal filtering systems are synthesized for a low-cost Inertial Measurement Unit (IMU), the filtering results are also compared using a performance index. Additionally, the proposed controller is compared in simulation with a fuzzy logic controller. Finally, the selection of the model, the controller and filtering are validated through experimentation with a quadcopter prototype developed by the authors, based on an experimental platform with four rotors, a fiberglass structure, a microcontroller and an IMU MPU 6050.]]></p></abstract>
<abstract abstract-type="short" xml:lang="es"><p><![CDATA[Resumen Se presenta el desarrollo, análisis y comparación de modelos dinámicos, para implementar de forma simple un sistema de filtrado y de control para una aeronave tipo quadrotor mediante el uso de microcontrolador. Se aborda un modelo dinámico no lineal obtenido de las ecuaciones de Euler Lagrange, así como un modelo no lineal simplificado a partir del primer modelo y, a su vez, un modelo lineal. Posteriormente, haciendo uso de cada modelo, se diseñan controladores mediante la técnica de par calculado, luego se obtienen sus índices de desempeño mediante simulaciones numéricas aplicadas al modelo no lineal completo, con el fin de comparar su respuesta. Además, con los diversos modelos y mediante observadores y filtros de Kalman, se sintetizan propuestas de filtrado de señales para una Unidad de Medición Inercial (IMU) de bajo costo, también se comparan los resultados del filtrado mediante un índice de desempeño. Adicionalmente se compara en simulación el controlador propuesto con un controlador por lógica difusa. Por último se valida la selección del modelo, el controlador y filtrado mediante experimentación con un prototipo de quadrotor desarrollado por los autores, basado en una plataforma experimental de cuatro rotores, una estructura de fibra de vidrio, un microcontrolador y una IMU MPU 6050.]]></p></abstract>
<kwd-group>
<kwd lng="en"><![CDATA[Quadcopter]]></kwd>
<kwd lng="en"><![CDATA[model analysis]]></kwd>
<kwd lng="en"><![CDATA[computed torque controller]]></kwd>
<kwd lng="en"><![CDATA[Kalman filter]]></kwd>
<kwd lng="en"><![CDATA[observer]]></kwd>
<kwd lng="en"><![CDATA[low-cost IMU]]></kwd>
<kwd lng="en"><![CDATA[implementation]]></kwd>
<kwd lng="en"><![CDATA[microcontroller]]></kwd>
<kwd lng="es"><![CDATA[Quadrotor]]></kwd>
<kwd lng="es"><![CDATA[análisis de modelos]]></kwd>
<kwd lng="es"><![CDATA[control par calculado]]></kwd>
<kwd lng="es"><![CDATA[filtro de Kalman]]></kwd>
<kwd lng="es"><![CDATA[observador de estado]]></kwd>
<kwd lng="es"><![CDATA[IMU de bajo costo]]></kwd>
<kwd lng="es"><![CDATA[implementación]]></kwd>
<kwd lng="es"><![CDATA[microcontrolador]]></kwd>
</kwd-group>
</article-meta>
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