Model-Based Design, HIL Testing, and Rapid Control Prototyping of a Low-Cost POC Quadcopter with Stability Analysis and Control

<table class="table-group" id="tab4"><tr><td><table class="table"><tr><td class="thead-hr" colspan="4"><hr/></td></tr><tr class="thead"><td class="align_left"><i>Axis</i></td><td class="align_center"><span style="width: 14.7674ptpx;"><svg height="13.716pt" id="M149" style="vertical-align:-5.28236pt" version="1.1" viewbox="-0.0498162 -8.43364 14.7674 13.716" width="14.7674pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"><g transform="matrix(.013,0,0,-0.013,0,0)"><path d="M699 0V35C659 41 632 57 591 109C519 200 445 301 381 397C426 443 468 491 527 545C582 597 623 609 685 615V650H425V615L443 613C490 607 492 592 468 561C435 516 395 467 328 399C298 368 273 352 252 346V516C252 602 260 608 331 615V650H37V615C112 608 121 602 121 516V134C121 48 111 42 39 35V0H338V35C261 42 252 48 252 134V314C267 316 280 310 301 280C372 176 455 59 498 0H699Z"></path></g><g transform="matrix(.0091,0,0,-0.0091,9.173,3.132)"><path d="M212 391V464C146 445 80 427 26 418V388C75 381 84 376 84 321V-128C84 -184 80 -192 16 -198V-230H294V-198C216 -191 212 -184 212 -127V0C227 -6 249 -12 274 -12C402 17 517 114 517 261C517 357 454 454 336 454C319 454 301 447 281 435L212 391ZM212 354C229 369 250 378 275 378C324 378 385 333 385 210C385 106 347 38 293 38C268 38 231 59 212 77V354Z"></path></g></svg></span></td><td class="align_center"><span style="width: 12.4656ptpx;"><svg height="11.6151pt" id="M150" style="vertical-align:-3.18146pt" version="1.1" viewbox="-0.0498162 -8.43364 12.4656 11.6151" width="12.4656pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"><g transform="matrix(.013,0,0,-0.013,0,0)"><path d="M699 0V35C659 41 632 57 591 109C519 200 445 301 381 397C426 443 468 491 527 545C582 597 623 609 685 615V650H425V615L443 613C490 607 492 592 468 561C435 516 395 467 328 399C298 368 273 352 252 346V516C252 602 260 608 331 615V650H37V615C112 608 121 602 121 516V134C121 48 111 42 39 35V0H338V35C261 42 252 48 252 134V314C267 316 280 310 301 280C372 176 455 59 498 0H699Z"></path></g><g transform="matrix(.0091,0,0,-0.0091,9.173,3.132)"><path d="M148 517C189 517 220 549 220 587C220 627 189 657 149 657C111 657 78 627 78 587C78 549 111 517 148 517ZM285 0V32C225 39 220 45 220 114V454C164 438 98 425 37 418V389C85 381 92 378 92 312V114C92 43 86 39 28 32V0H285Z"></path></g></svg></span></td><td class="align_center"><span style="width: 14.7674ptpx;"><svg height="11.7156pt" id="M151" style="vertical-align:-3.28196pt" version="1.1" viewbox="-0.0498162 -8.43364 14.7674 11.7156" width="14.7674pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"><g transform="matrix(.013,0,0,-0.013,0,0)"><path d="M699 0V35C659 41 632 57 591 109C519 200 445 301 381 397C426 443 468 491 527 545C582 597 623 609 685 615V650H425V615L443 613C490 607 492 592 468 561C435 516 395 467 328 399C298 368 273 352 252 346V516C252 602 260 608 331 615V650H37V615C112 608 121 602 121 516V134C121 48 111 42 39 35V0H338V35C261 42 252 48 252 134V314C267 316 280 310 301 280C372 176 455 59 498 0H699Z"></path></g><g transform="matrix(.0091,0,0,-0.0091,9.173,3.132)"><path d="M541 58L519 60C477 65 472 69 472 126V703C421 688 341 674 277 667V636C338 628 344 624 344 570V449C322 452 311 454 303 454C147 454 29 343 29 207C29 58 147 -12 233 -12C244 -12 259 -9 283 6L344 45V-13C423 10 517 22 541 26V58ZM344 80C322 66 307 64 289 64C243 64 171 111 171 234C171 386 248 412 271 412C301 412 328 395 344 360V80Z"></path></g></svg></span></td></tr><tr><td class="thead-hr" colspan="4"><hr/></td></tr><tr><td class="align_left"><i>ϕ</i></td><td class="align_center">0.55</td><td class="align_center">0.4</td><td class="align_center">0.1</td></tr><tr><td class="align_left"><i>θ</i></td><td class="align_center">0.55</td><td class="align_center">0.4</td><td class="align_center">0.1</td></tr><tr><td class="align_left">ѱ</td><td class="align_center">0.55</td><td class="align_center">0.4</td><td class="align_center">0.1</td></tr><tr><td class="align_left"><i>Z</i>-axis/altitude</td><td class="align_center">0.75</td><td class="align_center">1.75</td><td class="align_center">0.1</td></tr><tr class="table-tr"><td colspan="4"><hr class="tbody-hr"/></td></tr></table></td></tr></table>

Complexity

tab4

Table 4

Table 4: Model-Based Design, HIL Testing, and Rapid Control Prototyping of a Low-Cost POC Quadcopter with Stability Analysis and Control 