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

dynamicwind.mp4

Thrust Plots

• PID
• LQR
• MPC
• GMC

Flight Animation

• PID

1.5mspid.mp4

• LQR

1mlqr.mp4

References

• Dynamic Time warping
• Frechet Distance