Aim of this project was to develop an 1-D and 2-D quadcopter model and use the basic control law such as PID to control the quadcopter to reach a certian desired setpoint and/or follow a planned trajectory.
The quadcopter was constrianed to move only along the z-axis of the world frame. The quadcopter had to reach a certain desired setpoint which changed w.r.t time.
The quadcopter was restriced to z-y plane. Such version of the quadcopter is called as a Planar Quadrotor. The dynamics of the system were found out by simple Newtonian-Mechanics and simulated using the odeint function from the scipy package. To further test the controller the initial roll angle is allowed to vary randomly between -2pi/3 to 2pi/3 with each run of the code.
For the planar Quadrotor to reach the desired postion in a certain manner a trajectory planner was implemented. The following planners were implemented.
- Minimum Velocity Trajectory
- Minimum Acceleration Trajectory
- Minimum Jerk Trajectory
The simulation results are as follows:
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For Minimum Velocity Trajectory:
- Graph
- GIF
- Graph
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For Minimum Acceleration Trajectory:
- Graph
- GIF
- Graph
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For Minimum Jerk Trajectory:
- Graph
- GIF
- Graph
Future work includes extending this project to 3 dimensions and using other control approaches such as Linear Quadratic Regulator (LQR) and Model Predictive Control(MPC).