The Attitude Controller Of A Singlecopter And Its Tests

Singlecopter is an aerial vehicle whose lift at the vertical and thrust at level comefrom a single rigid propeller and which controls its own attitude with the vanes in thewake or the slide.In the beginning, this thesis introduces the development of the singlecopter and itsrelevant control technology. Hence, some theoretical analyses follow, includingmodeling dynamics of a vehicle, the attitude control law designed for the cascadestructure and the discussion of the closed loop stability by Lyapunov method. The lasthalf part of this thesis describes a number of engineering and experiment details,including the use of APM (ArdupilotMega) to develop a singlecopter controller, thecontroller parameters resulting from the assumed model, and the contents of flightexperiments as well as controller tuning procedure.This work achieves stably flying DIY prototypes with a deliberately designedattitude controller.