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Robust Control of Quadcopter in Dynamic Windfield

Aim

In this project we aimed to control and improve the polynomial trajectory tracking performance of a quadcopter in a dynamic windfield

Dynamic Winds

Generated Dynamic Windfield wind

dynamicwind.mp4

Thrust Plots

  • PID pidthrusts
  • LQR lqrthrusts
  • MPC mpcthrusts
  • GMC gmcthrusts

Flight Animation

  • PID
1.5mspid.mp4
  • LQR
1mlqr.mp4

References