Control and implementation of quadrotor using a RaspberryPI as ground station

Abstract

As the development and utilization of Unmanned Aerial Vehicles (UAVs) continue to grow, it becomes increasingly important to address the challenges related to their control and performance. This master’s project aims to build a stable quadrotor’s fligh tcon- troller using the ESP32 microcontroller, enabling wireless guidance through a Graphical User Interface (GUI) on Raspberry Pi. In this regard, this project provides quadrotor modeling and simulating the Backstepping controller (BSC) approach with various sim- ulation scenarios. Additionally, two control approaches were practically implemented . The firs tapproac hutilize sth eclassica lProportiona lIntegra lDerivativ e(PID )technique, while the second approach employs the modern Backstepping technique. The results ob- tained from the project demonstrate that both control approaches exhibit satisfactory performance and responsiveness in terms of stailizing the quadrotor when implemented in real-world scenarios. However, it has been noticed that the Backstepping Controller can achieve higher performance, whereas, PID performance is limited by tuning and model.