Design and implementation of a quadcopter controller

Abstract

The aim of this project is to model, design and implement on a microcontroller a set of control algorithms for a quad copter. The reason behind developing these algorithms is that a quad copter must track accurately a desired path and ensure stable attitude and position at stationary flight. The developed model is based on EULER-LAGRANGE method for rotational motions and on NEWTON-EULER method to compensate external forces such as wind effects. A simulation on MATLAB of the dynamic model has been performed before any real tests to assess the correct functioning of the controller and the embedded module.Two control techniques have been used along this project. The first is based on the PID, and the second on the LQ control. The simulation results validation are based on estimating our system performance (position and angles). Both controllers permit to stabilize the quad copter with a different efficiency. From the simulation results it has been shown that the LQ control give better performance. Thisresult has been confirmed by building and testing each controller in a drone quad.