Quadcopter_Control
Introduction
In this project,we will learn the dynamics of the Quadcopter and implement control algorithms on it.
Altitude control of a 1D Quadcopter
Hover at height 1 m
2D trajectory tracking using PID controller
Goal was to track the given two dimensional trajectories while minimising the position error.
Line Trajectory
Sine Trajectory
Diamond Trajectory
3D trajectory tracking using PID controller
Goal was to track the given three dimensional trajectories while minimising the position error.
Helix Trajectory
Minimum Snap Trajectory through given waypoints
Graphs
Minimum Snap Trajectory following using PID
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Minimum Snap Trajectory following using LQR
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Comparison of Trajectory tracking error (LQR vs PID)
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