Stabilisering av autonom quadrotor

Abstract

The different physical properties of the quadrotor have been observed through various step-response analysis. Four PID-controllers have been designed using Ziegler-Nichol’s method. These controllers have been programmed into an Arduino Mega which is connected to multiple different sensors with a low sampling frequency of approximately 11 Hz. The stability of the finished product acheived the specifications set at the beginning of the project. There is also an option for an end-user to communicate with the quadrotor through a Wi-Fi connection with a basic user interface. A GPS circtuit has been mounted on the quadrotor, enabling navigation between different waypoints specified by GPS coordinates. iii