Overview
This project deals with implementation of control systems. This includes autonomous control of 2D quadcopter whose motion is governed by a differential equation of motion and a PD controller.
The input thrust and moment to maneuver the quadrotor is determined by the controller based on magnitude of the error in position— current position to desired position.
The controller has two segments, Proportional § and Derivative(D), which have to be tuned in order to have steady control and motion.
Aim
The main focus of this project is to design a quadcopter capable of autonomously navigating through a trajectory in a 2D plane.
Working In Brief
The first three activities majorly focus on the intuition of the control problem.
Here, the aim was to stabilize the quadcopter at a specified height.
The second part of this project was to Implement a 2D Quadcopter trajectory.
Here, the aim was to design a controller that would make the quadcopter follow the desired path and also minimize position error. In this project Line, Trajectory and Sine Trajectory were given as desired trajectories
- Hover at 0m and 1m
- Follow Line Trajectory
- Follow Sine Trajectory
Here, the aim was to stabilize the quadcopter at a specified height.
The second part of this project was to Implement a 2D Quadcopter trajectory.
Here, the aim was to design a controller that would make the quadcopter follow the desired path and also minimize position error. In this project Line, Trajectory and Sine Trajectory were given as desired trajectories
PD Tuning
Here
r -trajectory of the quadcopter
kp-propotional gain–analogous to spring action
kv-differential gain–analogous to damping action
Result
Software used
Concepts used
- Control Theory
- Linear Ordinary Differential Equations
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