Experimental Validation of Quadrotors Angular Stability in a Gyroscopic Test Bench

This work presents a gyroscopic test bench for under or over-actuated UAVs. In this way, it is possible to perform stability tests and several control loop structures without taking the risk of damages present in field tests, or even accidents with personal injuries. Moreover, the vehicle continues with its respective degrees of freedom for angular stability dynamics (rolling, pitching and yawing), without (or almost no) interference from the test bench, as it does not influence the UAV moments of inertia. It also can be used for didactic purposes, where, through the results presented in graphics and videos, it proved to be easy to build and handled, meeting the minimum safety requirements proposed.