PD Control of Quadrotor Drone

This code presents a simulation of PD control of a quadrotor drone in point-to-point motion.

This code shows a simulation of a drone in regulation control, and point-to-point motion using MATLAB software. The code is prepared in MATLAB script and the integration of the closed-loop system is done using the finite difference method.

The dynamics of the drone with graphical representation could be found in Section III of the following paper:

Nekoo, S. R., Acosta, J. Á., Gomez-Tamm, A. E., & Ollero, A. (2019, November). Optimized thrust allocation of variable-pitch propellers quadrotor control: A comparative study on flip maneuver. In 2019 Workshop on Research, Education and Development of Unmanned Aerial Systems (RED UAS) (pp. 86-95). IEEE.

The control is a simple PD design using a cascade scheme. The cascade scheme for SDRE for variable pitch rotors could be found in the mentioned reference, however, the PD design was not reported there due to simplicity.