Development of Cross Style Quadrotor

Abstract

This thesis presents development of a quadrotor in a new configuration. Through this work, a small scale cross style quadrotor is introduced and compared to the standard plus style types. The vehicle in this configuration is able to take the advantage of using all the rotors in achieving horizontal displacement which potentially results higher maneuverability performance. Based on the developed platform, autonomous fight is achieved in the following main steps. The vehicular avionics board in a compact design is developed to provide all the navigation data and communicate with the ground station. The mathematical model of the platform is derived and identification experiments are then accordingly conducted to numerically estimate the vehicle model. A hierarchical structure controller with help of identified model is designed to perform the attitude and position control tasks. All the proposed flight controllers are experimentally realized on the developed platform to illustrate the performance whole system.