This dissertation covers the process of modelling and subsequently developing a flight dynamics controller for a quad–rotor unmanned aerial vehicle. It is a theoretical study that focusses on the selection of a controller type by first analysing the problem on a system level and then on a technical level. The craft is modelled using the Newton– Euler model, accounting for multiple reference frames to account for the interpretation of orientation as seen by on–board sensors. The quad–rotor model and selected controllers are characterized and compared. The model is verified through simulation by comparison to a validated model. A series of generic control loops are derived and used as reference for the implementation of the controllers. A Simulator is developed and used to do a comparative study of the various controller types and the control approach. Finally a full simulation is done to demonstrate the interaction between the controllers. / Thesis (MIng (Computer and Electronical Engineering))--North-West University, Potchefstroom Campus, 2012.

This dissertation covers the process of modelling and subsequently developing a flight dynamics controller for a quad–rotor unmanned aerial vehicle. It is a theoretical study that focusses on the selection of a controller type by first analysing the problem on a system level and then on a technical level. The craft is modelled using the Newton– Euler model, accounting for multiple reference frames to account for the interpretation of orientation as seen by on–board sensors. The quad–rotor model and selected controllers are characterized and compared. The model is verified through simulation by comparison to a validated model. A series of generic control loops are derived and used as reference for the implementation of the controllers. A Simulator is developed and used to do a comparative study of the various controller types and the control approach. Finally a full simulation is done to demonstrate the interaction between the controllers. / Thesis (MIng (Computer and Electronical Engineering))--North-West University, Potchefstroom Campus, 2012.