Hovering control algorithm validation for a mobile platform using an experimental test bench

This paper deals with the validation of a hovering control algorithm for a mobile aerial platform executed on a quadcopter pattern. In order to test and evaluate the proposed hovering algorithm in a safe and controllable environment conditions, an experimental test bench has been introduced. As part of the hovering control algorithm implementation process, a brief description of the dynamics and control laws of the quadcopter is presented. The considered control technique in this paper is based on PID control method. A program code has been written using Arduino IDE based on Arduino UNO microcontroller. A description of the conducted indoor experiment for the validation of the hovering algorithm, and also the main results of the performed practical experiment are presented