Quadrotor UAV Trajectory and Control Design (PID + Cascaded)

Designing and implementing a 2D linear controller for a quad rotor moving along a specified trajectory.

The quad is commanded to move across a trajectory defined as a function of time x(t), z(t). The equations of motion are first linearized and then implemented in Simulink.

This tutorial covers the following fundamental control concepts

1) Linearization
2) Under-actuation
3) Coupling
4) PID/PD/PI control
5) Tuning
6) Inner Loop Control

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