Design and Implementation of a Quadrotor Test-Bench for Control Algorithm Analysis

Robust control algorithms are essential as unmanned aerial vehicles are used in a wide range of applications. In order to facilitate the analysis and optimization of control algorithms, this study describes the design and development of a test-bench specifically for quadrotors. With the addition of single-axis displacement (z-axis) and three-axis rotation (pitch, roll and yaw) capabilities, the proposed test-bench provides a comprehensive four degrees of freedom for experimental evaluation. Using ArduPilot and the Robot Operating System, we were able to independently operate the quadrotor in our experimental setup, allowing precise manipulation and data collection. The test bench made it easier to compare the reaction performance and reliability evaluations of different control algorithms, which helped in the development of more robust control strategies for unmanned aerial vehicles. We evaluated the effectiveness of linear control methods, namely proportional-integral-derivative and proportional-integral controllers, using a case study methodology. The effectiveness of these control strategies was quantitatively compared. These findings demonstrate the potential of our test-bench for future research in quadrotor control algorithms.