الفهرس 
Chapter 1 INTRODUCTIONOnly 14 pages are availabe for public view
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Abstract
By the development of recent technology, many types of unmanned rotorcrafts robots are needed to be used. The four rotor robots (quad-rotor) have drawing a great attention from robotics engineers more than that one, lack the necessary reliability and performance to be practical experimental platforms. Its potential spans from just being control device test bed to performing difficult task especially in civil applications such as carrying surveillance device to unreachable places. By design and control a quad copter prototype having a tri-axis accelerometer and a compass as its sensors. All components of the quad copter are explained in details at first. Then mathematical model is deduced to represent its motion dynamics and kinematics motion, as well as of its motors and sensors. Simulation results are conducted using Matlab Simulink. Given the outputs provided by the available sensors, a Kalman filter was developed capable of estimating the angular velocities and Euler angles of the quad copter. This filter was combined with a Linear-Quadratic Regulator, and then a hybrid Linear-Quadratic Regulator with PID controller was built. Finally, the results of the simulations and real implementation in the quad copter are presented.