3DoF Multi-Rotor Experimental Testbed for Teaching Control Systems

To meet the academic objectives for courses related with Control Systems, it is important to have access to real educational platforms that help to extend the theory to a hands-on experience. This paper introduces the implementation of an experimental testbed used to control the orientation of a multirotor in an interactive fashion. The testbed is implemented based on the configuration of a quadcopter by restricting its ability to fly, but allowing it to rotate around its three main axes. The orientation model of a quadcopter is also presented focusing on the experimental estimation of the thrust and drag coefficients. A PID-based attitude controller is designed and discretized in order to implement it in an embedded system. Simulation results and initial experimental tests are included showing the response of the multi-rotor experimental testbed and the performance of the controller.