Development of a practical experimental platform for control system of the quadrotor

This paper focuses on the development of an experimental platform, consisting of a quadrotor and an upper computer, for the mathematical modeling and control design of the quadrotor. An inexpensive quadrotor equipped with attitude-measuring sensor and wireless communication module is developed elaborately, and an upper computer program using the Labwindows/CVI is designed to execute control algorithm in real time. In this pattern, the structures and parameters of control algorithms can be adjusted easily without changing any code on MPU of the quadrotor, which facilitates the control design of quadrotor tremendously. In the end, the experiments of preliminary attitude control are conducted to verify the effectiveness of entire design, which lays a solid foundation for the future application of the platform.