This project is a graded part of the module 'Robotic Control Theory and Systems' COMP0128 at UCL London. The goal of this project is to implement a feedback controller that makes the drone perform the following trajectory:
- Starts at (0,0,0)
- Moves up to (5,5,5)
- Stays at (5,5,5) for 5 seconds.
- Moves along a circular trajectory with radius 2.5, with constant altitude z=5, passing through the points (2.5,2.5,5), (0,5,5), (2.5,7.5,5) and back to (5,5,5).
- Lands at (5,5,0) safely (less than 0.1 m/s linear velocity when hitting the ground).
The task description is detailed here in Question 3a).
Open the file quadcopter_script.m in MATLAB and run it with additional installation of necessary toolboxes.
The trajectory of the drone is shown below:
