Date

2017

Document Type

Thesis

Degree

Master of Science

Department

Mechanical Engineering

First Adviser

Eugenio Schuster

Abstract

The quad tiltrotor is a vertical take-off and landing UAV (Unmanned Aerial Vehicle). It has four propellers, each of which is mounted on four separate gimbals. This thesis presents an experimental design for the quad tiltrotor's attitude controller. First, we detailed the mechatronic system of the quad tiltrotor and assembled the prototype. Then we derived the dynamic model using the Lagrangian method. Next, we designed a PID controller for our prototype using the feedback linearization method. Then we ran simulations. The results showed that our controller performed well when it came to tracking and stability. We also implemented the controller to the Pixhawk flight control board of our quad tiltrotor. Finally, we designed an experiment to test our attitude controller. The results analysis, which was performed with a MATLAB GUI that we developed, demonstrated that our design is practicable and flexible.

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