Drone controller

Project: The goal of this project was to develop a drone controller. The algorithm had to account for the requirement of the drone, being able to negotiate sharp turns while manoeuvring at high velocities. To test the performance, the drone was tasked to track specific trajectories, including circles, diamonds, and TUD (TU Delft) logo. 

Solution: The algorithms that were developed and tested, include both a linear PD controller and a non-linear geometric controller, The algorithms were implemented in both MATLAB and Python and evaluated based on tracking error, tracking time, and energy consumption. The openAI gym library was used in the python implementation to simulate the environment. On the video, a geometric controller is implemented in MATLAB, where the drone is tasked to track a circle.