멀티-로터 방식 비행체의 제어시스템 설계를 위한 실험적 프레임워크 연구

This paper introduces the experimental framework of the hardware test beds including the Multi-Rotor UAV, Flying Mill, and Multi Camera system. Multi camera System enables the indoor real flight testing without the limitations of outdoor flight testing, Flying mill provides the 3-DOF performance testing for the attitude stabilization of the UAV. In addition, various control methodologies are introduced in order to find the most suitable controller for the introduced multi-rotor UAV.