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Development of KU-Quadrotor Control System for Indoor Application

Gilar B. Raharja


This paper discuss about development of control system of mini quadrotor in Konkuk University for indoor application. The attitude control system consists of stability augmentation system as the inner loop control and a modern control approach based on modeling will be implemented as the outer loop. The inner loop control satisfied experimentally by proportional-derivative controller, this is used for support the flight test to validate the modeling. In this paper we introduce the mathematical model for simulation and design the optimal control on the outer loop control. To perform experimental test, basic electronics hardware are developed in a simple configuration; AVR μcontroller used as the embedded controller, low-cost 100Hz AHRS for the inertial sensing, IR sensors for horizontal ranging, ultrasonic sensor for ground ranging and high performance propeller system built on X-UFO quadrotor airframe. It results an automatic hovering ability with ground control system support for monitoring and fail-safe system.

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