arcane-01 / robust-quadcopter-control

Code for the Coursera course on Aerial Robotics by University of Pennsylvania

Robust-Quadcopter-Control

Code for the Coursera course on Aerial Robotics by University of Pennsylvania

1D control of Quadcopter

Implemented a PD controller for height control of the quadrotor and tuned the proportional gain( $K_p$ ) & derivative gain( $K_d$ ) for two cases.

Hover control at height 0 $m$

Hover control at height 1 $m$

2D Control of Quadcopter

Implemented a PD controller to control the motion of the quadrotor in the Y-Z(2D) plane for following the desired path while minimising position error.

Line Trajectory

Sine Trajectory

3D Control of Quadcopter

The aim is to design controller to track the given three dimensional trajectories while minimising the position error.

Line Trajectory

                 Quadcopter velocity                                       Quadcopter position

Helix Trajectory

                 Quadcopter velocity                                 Quadcopter position

Minimum Snap Trajectory through given waypoints

                 Quadcopter velocity                                       Quadcopter position