Unmanned aerial vehicle control with centroid variations

U sklopu ovog diplomskog rada dizajnirano i isprobano je elektroničko sklopovlje, dizajnirana i izrađena je tiskana pločica te je izrađeno programsko rješenje za upravljanje koračnim motorima. Takvo rješenje je ugrađeno na postojeći sustav bespilotne letjelice u svrhu upravljanja nagiba letjelice promjenom centra mase letjelice tj. pomakom koračnih motora. Izrađen je matematički model sustava upravljanja, provedena odgovarajuća sinteza upravljanja te je izrađen i odgovarajući algoritam za upravljanje koji je implementiram u programskom rješenju.In this master thesis, an electronic circuit was designed and tested, the printed circuit board was designed and built with a supported software solution for control of stepper motors. Such a solution was implemented on an already existing unmanned aerial vehicle system with the purpose of controlling the attitude of the vehicle i.e. moving stepper motors to control the vehicle's center of mass. Systems mathematical model was derived, the control system was synthesized and the corresponding algorithm for control was implemented in a software solution