This project focuses on designing and implementing a control system for a Quadrotor UAV to follow a circular trajectory. The project demonstrates the bridge between mathematical modeling in Simulink and real-world experimental validation.
- Mathematical Modeling: Full dynamic model of a Quadrotor.
- Control Algorithm: Direct Adpative Fuzzy Controller for altitude and position tracking.
- Real-time Implementation: Testing the algorithm in a laboratory environment.
This image shows the block diagram of Quadrotor control system in Simulink:
The performance of the controller in the Simulink environment shows perfect tracking under ideal conditions:
The following video shows the UAV performing a circular path in the lab. While there are some oscillations due to sensor noise and aerodynamics, the UAV successfully maintains the target trajectory.
Click here to watch the flight test video
The graph shows the Quadrotor's desired and actual trajectory:
- Simulation: Shows near perfect tracking with zero steady-state error.
- Experiment: The UAV follows the circle but exhibits small oscillations. This is primarily caused by sensor noise and unmodeled aerodynamics effects, which were not present in the ideal Simulink simulation.
- Future Work: Improve the controller with a Kalman Filter to reduce noise.