An experimental stationary quadrotor with variable DOF

Unmanned air vehicles (UAV) and especially quadrotors have drawn great attention in recent years because of their maneuverability, ease of design and control. Most of the works concentrate mostly on control; yet, design and communication are also some sub-topics. In this research, a stationary, four rotor air vehicle with limited/controlled degree of freedom is constructed so that various control algorithms and their changing effects with varying vehicle dynamics can be studied on the ground for safety purposes. Ascending/descending, pitch/yaw/roll motions can be limited/controlled by setting the vehicle's degree of freedom mechanically, resulting better net observability of the control algorithms on the vehicle's dynamic performance. Design, in terms of mechanics, mechatronics and software is presented and the usability of the system is shown. Parallel self tuning fuzzy PD + PD control is applied to the system for preliminary studies and results are discussed. Inspite of the sensor noise, satisfactory pitch/roll/yaw control is achieved.