TRAJECTORY CONTROL OF QUADCOPTER

Abstract

In the fast few year, interest towards quadcopter has increases more all over the world. Quadcopter became a very interesting topic of control engineer in the research field as well as commercial application. This vehicle is very useful in surveillance, military operation, research field and commercial uses. In this report two control strategy, PID and SMC is developed in MATLAB simulation to check which controller is giving appropriate result. The dynamic model of quadcopter are obtained by Newton Euler’s method by taking two motion Translational motion and Rotational motion. The obtained mathematical model is highly nonlinear. PID controller is proposed for linear model by taking some approximation to original obtained model. SMC is designed for original model. Trajectory tracking performance and effectiveness for altitude and attitude is proposed and verified by both controller through MATLAB