| dc.description.abstract | Unmanned aerial vehicles (UAVs) are becoming ubiquitous due to their potential benefits
in many civilian and military applications. UAVs are designed to accomplish complex
tasks safely and effectively, such as search and rescue missions, package delivery, building
inspections, film making...etc. The attitude controller is one of the most important and
fundamental components that allows the UAV to balance itself in the air.
In this thesis, a PX4-based quadrotor experimental platform has been built and used to test
the attitude control algorithms. MATLAB/Simulink R2021a with the UAV Toolbox Support
Package for PX4 Autopilots is used to program the control algorithms. A nonlinear attitude
estimator and three PID-type attitude controllers have been successfully implemented on
the quadrotor.
A discussion about the performance of the obtained experimental results for the three
different attitude control schemes is provided. | en_US |
