Quadrotor

Dynamics and Controller Simulation - Python

Position(MPC,PID), Attitude(PID) Controller - Quadrotor.py
Dynamics - Quadrotor_Model.ipynb

Dynamics and Controller Simulation - Matlab Simulink

PID Controller - Quadrotor_Controller.slx
Sliding Mode Controller - Quadrotor_SMC.slx

SMC vs PID Simulation in Disturbance situation

PID Simulation Image

Control Input- Position(7,-10,5) Heading(1 rad)

I refer to below

Lim, Jeonggeun. “Autonomous target following and monitoring with collision avoidance based on an Lidar on a multi-copter”
Yang, Kwangwoong. "쿼드 로터 무인항공기 제어 및 시뮬레이션"
Khali. "Nonlinear System"