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Quadcopters have many applications and an efficient controller is needed for reference tracking and to maintain vehicle stability. Quadcopter tests may require expensive laboratory setup to include certain conditions such as wind, with adequate control and monitoring. In this paper a bench markmodel of quadcopter is implemented in Hardware-In-the-Loop, in order to test the quadcopter controller considering different conditions of wind. For experimental results, an LQT controller has been implemented in a DSP, while the quadcopter was implemented in the real-time simulator Typhoon HIL.

In space missions, there is often a need for an attitude control system capable of maintaining the desired attitude. In situations that require agile and accurate responses, which also require large torques, control moment gyroscopes (CMGs) may be used. Control moment gyroscopes are high angular moment gyros mounted on gimbals and are responsible for changing the direction of the angular momentum vector, consequently generating the control torques. There are several linear and nonlinear techniques that can be employed in the design of control laws with the final choice being a compromise between simplicity, effectiveness, efficiency and robustness. The main objective of this study is to evaluate the performance of control systems techniques with 4 CMGs in a pyramidal arrangement, either by using Linear Quadratic Tracker (LQT) with integral compensator or Exponential Mapping Control (EMC). A reference attitude will be defined to be traced in the presence of disturbance torques caused by the gravitational gradient.

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