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This paper presents the study and the realization of an electronic analogue feed back stabilisation system for a small scale “half-quadricopter”. Such flying objects are now well-known and many commercial systems are available. However, they look as full digital embedded “black boxes”. The originality of our work stands in the practical approach, “intuitive” understanding and the analogue electronic COTS design of a complex system. Moreover, this subject is a concrete opportunity to illustrate the feedback major concepts. We give first the context of the study and the mains specifications. Available hardware (mechanical parts, sensors) are briefly described. After characterisations, modelling and simulations are presented. Some experimental results are given before concluding.

Study of a Half Small Scale Quadricopter Balance: Illustration of a Complex Analogue Electronic Feed Back