This project explores the dynamics and control of a quadcopter drone through simulations. It progresses from basic physical principles to advanced control mechanisms under various conditions.
Figure 1: Basic physics principles governing drone flight.
Figure 2: Simulation showing drone dynamics with physical constraints and parameters.
Video 1: Demonstrates the drone's behavior under different propeller speeds.
Video 2: Compares the linearized model's behavior with the non-linear model.
Video 3: Showcases feedback control performance following a specified trajectory with perfect sensors.
Video 4: Evaluates feedback control under the influence of Gaussian sensor noise.
- For Question 1: Run
quadcopter_script_q12.m
withDrone_q1.m
enabled andDrone_q2.m
disabled. - For Question 2: Run
quadcopter_script_q12.m
withDrone_q2.m
enabled andDrone_q1.m
disabled. - For Question 3a: Run
quadcopter_script_q3ab.m
withDrone_q3a.m
enabled andDrone_q3b.m
disabled. - For Question 3b: Run
quadcopter_script_q3ab.m
withDrone_q3b.m
enabled andDrone_q3a.m
disabled.
Ensure to check the supporting files for Questions 2 and 3 for pre-generated matrices required for the simulations.