Control of Quadrotor in 2-D for a Commanded Trajectory

Abstract

The usage of drones has been increased and they are now being used for safety operations as well as in the security forces. They are being used in military, police forces, in geodesy companies. These applications demand accurate control of the drone, and the drone should follow the desired trajectory accurately so that less errors made in decision making of such complicated application. These applications require that the drones can be controlled using proper controller for controlling the trajectory. They follow the commanded trajectory very accurately while minimizing the error. These controllers get the difference between the actual trajectory and the desired trajectory, that is the error which they try to minimize. In this paper we will discuss about the control of a 2-D quadrotor using a Proportional-Derivative controller and simulate it in MATLAB. The PD controller tries to minimize the error and the derivative of the error. The model takes into account the mass of the drone, the moment of inertia about x-axis, the actual coordinates and the actual roll angle. The errors in this case is the difference between the actual position and the desired position.