Introduction - If you have any usage issues, please Google them yourself
(UAV) has grown rapidly over the past decade. UAV applications
range from purely scientific over civil to military. Technical
advances in sensor and signal processing technologies enable
the design of light weight and economic airborne platforms.
This paper presents a complete mechatronic design process
of a quadrotor UAV, including mechanical design, modeling
of quadrotor and actuator dynamics and attitude stabilization
control. Robust attitude estimation is achieved by fusion of lowcost
MEMS accelerometer and gyroscope signals with a Kalman
filter. Experiments with a gimbal mounted quadrotor testbed
allow a quantitative analysis and comparision of the PID and
Integral-Backstepping (IB) controller design for attitude stabilization
with respect to reference signal tracking, disturbance
rejection and robustness.