MATLAB Drone Simulation Project

Overview

This project explores the dynamics and control of a quadcopter drone through simulations. It progresses from basic physical principles to advanced control mechanisms under various conditions.

Visual Guide

Drone Physics

Figure 1: Basic physics principles governing drone flight.

Simulation Dynamics

Figure 2: Simulation showing drone dynamics with physical constraints and parameters.

Simulation Demos

Question 1: Non-linear Model Behavior

Video 1: Demonstrates the drone's behavior under different propeller speeds.

Question 2: Linear vs Non-linear Model Comparison

Video 2: Compares the linearized model's behavior with the non-linear model.

Question 3a: Feedback Control with Perfect Sensors

Video 3: Showcases feedback control performance following a specified trajectory with perfect sensors.

Question 3b: Feedback Control with Sensor Noise

Video 4: Evaluates feedback control under the influence of Gaussian sensor noise.

Running the Simulations

• For Question 1: Run quadcopter_script_q12.m with Drone_q1.m enabled and Drone_q2.m disabled.
• For Question 2: Run quadcopter_script_q12.m with Drone_q2.m enabled and Drone_q1.m disabled.
• For Question 3a: Run quadcopter_script_q3ab.m with Drone_q3a.m enabled and Drone_q3b.m disabled.
• For Question 3b: Run quadcopter_script_q3ab.m with Drone_q3b.m enabled and Drone_q3a.m disabled.

Ensure to check the supporting files for Questions 2 and 3 for pre-generated matrices required for the simulations.