Regresar

3DoF Multi-Rotor Experimental Testbed for Teaching Control Systems

Abstract:

To meet the academic objectives for courses related with Control Systems, it is important to have access to real educational platforms that help to extend the theory to a hands-on experience. This paper introduces the implementation of an experimental testbed used to control the orientation of a multirotor in an interactive fashion. The testbed is implemented based on the configuration of a quadcopter by restricting its ability to fly, but allowing it to rotate around its three main axes. The orientation model of a quadcopter is also presented focusing on the experimental estimation of the thrust and drag coefficients. A PID-based attitude controller is designed and discretized in order to implement it in an embedded system. Simulation results and initial experimental tests are included showing the response of the multi-rotor experimental testbed and the performance of the controller.