Design, Modelling and Control of a Single Rotor UAV

In this thesis, a novel Vertical Take-Off and Landing (VTOL) Single Rotor Unmanned AerialVehicle (SR-UAV) will be presented. The SR-UAV’s design properties will be analysed indetail, with respect to technical novelties outlining the merits of such a conceptual approach.The system’s model will be mathematically formulated, while a cascaded P-PI and PID-basedcontrol structure will be utilized in extensive simulation trials for the preliminary evaluationof the SR-UAV’s attitude and translational performance. Further a prototype SR-UAV willbe presented with a corresponding experimental evaluation of the established control scheme.Finally analytic discussions on the obtained results, as well as on the current design limitationsand future research directions will also be depicted.Validerat; 20160610 (global_studentproject_submitter