Quadcopter-Trajectory-Follower

The main focus of this project is to design a quadcopter capable of autonomously navigating through a trajectory in 2D plane.

Sequence of project

• Cruise control/PID Tuning
• Gain Tuning
• Stopping Distance cum deceleration calculation
• Thrust Weight Determination
• 1D Quadcopter control
• 2D Quadcopter control

The first three activities majorly focussing on intuition of control problem

1D Quadcopter Control

• High proportional gain to reach the destination swiftly- 100
• Moderately low differential gain just enough to stop overshoot- 16

2D Quadcopter Control

• Quadcopter designed is uniform and linear in motion/input, i.e near hover configuration
• Thrust(u1) must be high for greater acceleration in order to propel forward and reach the destination quickly
• Moment(u2) must be low to satisfy near-hover conditions
• Accordingly the quadcopter designed moves as below with no aggressive manuevers

Line Trajectory

Sine Trajectory

Analysis of ideal linearized models enable better understanding and give the intuition to work with complex non-linear systems analysis and design, which is the main focus of this project.

Extension

3D Quadcopter Control

A PD controller was designed that controls the quadcopter in 3D space in a linear fashion.

Line Trajectory

Helix Trajectory