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This paper deals with the validation of a hovering control algorithm for a mobile aerial platform executed on a quadcopter pattern. In order to test and evaluate the proposed hovering algorithm in a safe and controllable environment conditions, an experimental test bench has been introduced. As part of the hovering control algorithm implementation process, a brief description of the dynamics and control laws of the quadcopter is presented. The considered control technique in this paper is based on PID control method. A program code has been written using Arduino IDE based on Arduino UNO microcontroller. A description of the conducted indoor experiment for the validation of the hovering algorithm, and also the main results of the performed practical experiment are presented

Abstract. The article presents a comparative analysis of the results of computer mathematical modelling of the motion of the underwater robot-fish implemented by using the MATLAB / Simulink package and fullscale tests of an experimental model developed in the laboratory of mechatronics and robotics of the SouthWest State University.

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