This is a repo for Coursera's Aerial Robotics
2D TRAJECTORY CONTROL OF QUADROTOR:
This assignment was focused on obtaining linearized equation of motions for quadrotor in 2D plan (Y-Z). A simple PD controller has been used in each plant (phi, u1, u2).
The resulting equations and PD controller tuned parameters are shown below:
StraightLine trajectory output:
Sinewave trajectory output:
My position error based on PD params:
3D TRAJECTORY CONTROL OF QUADROTOR:
will update soon! but my controllers are working fine!