#### Júnio Santos Bulhões, Cristiane Lopes Martins, Cristian Hansen, Márcio Rodrigues da Cunha Reis, Alana da Silva Magalhães, Antonio Paulo Coimbra, Wesley Pacheco Calixto, **Platform and simulator with three degrees of freedom for testing quadcopters,** Robotics and Autonomous Systems, Volume 176, 2024 DOI: 10.1016/j.robot.2024.104682.

This study aims to design a test platform for quadcopters, which allows the execution of all rotational movements and prevents translational movements without affecting the dynamics of the system. The methodological approach involves both simulation and the construction of the test platform. Two simulators are developed: (i) a linear simulator, used to assist in determining control parameters, and (ii) a nonlinear simulator, used to model the nonlinearity inherent to the rotational behavior of aircraft. In addition, the control system for the quadcopter is implemented, utilizing proportional, integral, and derivative control principles. By conducting seven experiments on the test platform and in the nonlinear simulator, the obtained results are compared in order to validate the proposed methodology. The mean discrepancy observed between the mean absolute difference obtained by the test platform and by the nonlinear simulator for the angle ϕ was 0.85°, for the angle θ was 2.77°, and for the angle ψ was 4.66°. When analyzed separately, the mean absolute errors for the angles, using the nonlinear simulator and the test platform, showed differences below 2% in almost all evaluated experiments. The developed test platform preserves the rotational dynamics of the quadcopter as desired, closely approaching the results obtained by the nonlinear simulator. Consequently, this platform can be used to carry out practical tests in a controlled environment.