iman-sharifi-ghb/Quadcopter-Trajectory-Tracking-using-Adaptive-Nonlinear-Algorithms

PID, LQR, Feedback Linearization, Backstepping, Sliding Mode, and Model Reference Adaptive Control for 6-DoF Robot Control

Quadrotor-Trajectory-Tracking-using-Adaptive-Nonlinear-Algorithms

In this project, we aim to control a 6-Dof, 4-motor robot using Linear, Nonlinear, and Adaptive algorithms. Then, we compare their performance in different scenarios and discuss the results.

Creator: Iman Sharifi

Email: iman.sharifi.edu@gmail.com

1- PID Control

2- Linear Quadratic Regulator (LQR)

3- Feedback Linearization Control (FLC)

4- Sliding Mode Control (SMC)

5- Back-Stepping Control (BSC)

6- Model Reference Adaptive Control (MRAC)

Results

you can see the step response of different methods in position control:

Comparison of X:

Comparison of Y:

Comparison of Z:

Model Refrence Adaptive Control (MRAC) method:

X response:

Y response:

Z response:

Attitude Control:

You can access the Persian report in this link.