Design, implementation and control of a small-scale UAV quadrotor

Yi Rui Tang, Yangmin Li, Tienan Ma

Research output: Chapter in book / Conference proceedingConference article published in proceeding or bookAcademic researchpeer-review


This paper presents a systematic approach to developing unmanned aerial vehicle (UAV) quadrotor systems. The system is built up based on a radio-controlled (R/C) quadrotor frame. With the careful selection of onboard hardware components, a physical avionics system is developed to interact with onboard sensors and actuators as well as perform data processing. To realize the control of the quadrotor, the values of control parameters need to be obtained in simulation prior to implementing physical hardware. Therefore, a nonlinear dynamic model is built for designing the controller in simulation. Finally, the developed control laws are performed and evaluated in both simulation and actual flight tests. The experimental results show that the designed quadrotor system exhibits a satisfactory performance and it is competent as an effective tool for conducting the further investigation of UAV research.
Original languageEnglish
Title of host publicationProceedings of the World Congress on Intelligent Control and Automation (WCICA)
PublisherInstitute of Electrical and Electronics Engineers Inc.
Number of pages6
Publication statusPublished - 1 Jan 2015
Externally publishedYes
Event2014 11th World Congress on Intelligent Control and Automation, WCICA 2014 - Shenyang, China
Duration: 29 Jun 20144 Jul 2014


Conference2014 11th World Congress on Intelligent Control and Automation, WCICA 2014


  • Control algorithm
  • Hardware components
  • Onboard avionics
  • Quadrotor
  • UAV

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Computer Science Applications

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