Nonlinear Control Quadcopter

Introduction

The main objective of this project is to propose a stabilization control algorithm for a quadrotor, based on the " Nested Saturations Approach " .

Getting Started

1. Clone our repo: git clone https://github.com/HusseinLezzaik/Nonlinear-Control-Quadcopter.git
2. Install MATLAB.

Overview of the Repository

• The MATLAB script "main.m" simulates the behaviour of a quadcopter controlled by nested saturation functions. The other two scripts are helper functions for quadcopter animation.

• Simulation parameters that can be changed: The first few blocks of the script contain all adjustable parameters:

  • Reference Trajectory: can be "spiral","cylinder","reference", or "custom".
  • Noise factor on each input and on each state. Can be set to zero.
  • Animation: can be set on or off.
  • Physical parameters of the drone.
  • Simulation time and sampling time.
  • Gains of the control law proposed.
  • Initial positions and velocities of the quadcopter.
  • Custom trajectory and its derivetive, if trajectory was chosed to be custom.

• After adjusting the parameters, simply run the script ("main.m").

You can find more details about our approach and results in ARS5_Final_Project_Report.pdf

What the script does:

- if animation enabled, the drone and its desired trajectory are plotted
  as animation.
- Plots of the errors on x,y,z, and yaw angle.
- Plots of the applied main thrust and the three torques.
- 3D Plots of the trajectory followed, and the desired one.

Contact

If you have any question, or if anything of the above is not working, don't hestitate to contact us! We are more than happy to help!

• Hussein Lezzaik
• Hasan Kassem
• Ahmad Shour