A Comparison of Quadcopter Drone Control Methods

Table of Contents

• Contributors
• Documents
• Source Code

Contributors

Project Team

• Sravan Balaji (balajsra@umich.edu)
• Aditya Iyer (adiyer@umich.edu)
• Lakshmanan Periakaruppan (lperiaka@umich.edu)
• Naman Shah (namanvs@umich.edu)
• Sumedh Vaishampayan (sumi@umich.edu)

EECS / MECHENG 561 W20 Course Staff

• Ram Vasudevan (ramv@umich.edu)
• Sid Dey (siddey@umich.edu)

Documents

1. Project Proposal
2. Final Report - Overleaf (Read-Only)

Source Code

LQR.m

Finite and infinite time horizon LQR implementation in MATLAB. Gains determined for linearized discrete time system, then simulated on nonlinear system (see LQRNonlinearSim.slx below).

LQRNonlinearSim.slx

Simulink nonlinear model that is run from within LQR.m. Takes gain matrix K and initial condition x_0 as input.

PlantModel.m

Parameters for PID controller (see PlantModelSim.slx below).

PlantModelSim.slx

PID control of nonlinear and linear system.