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This article is a continuation of our previously published work that presented a comparison of nine attitude quaternion-based controllers of the quadrotor in simulation environment. In this article, the best three controllers were implemented into the real quadrotor. Namely proportional derivative (PD), linear quadratic regulator (LQR) and backstepping quaternion-based control techniques were evaluated. As a suitable test stand was not available on the basis of literature analysis, the article also outlines the requirements and the development of a new innovative test stand. In order to provide a comprehensive overview, the hardware and software that was used is also presented in the article. The main contribution of this article is a performance comparison of the controllers, which was based on absolute quaternion (positioning) error and energy consumption.

Control Methods Comparison for the Real Quadrotor on an Innovative Test Stand