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