Quadrotor Controller Design - Robot Control

In the Robot Control final project, I developed a position and altitude controllers for a quadrotor, in order to execute a diamond and circular trajectory. The controllers performance were evaluated by comparing the results obtained in a simulation environment against those gathered during a real-world flight experiment. The objective is to analyze the controller's effectiveness and robustness in tracking both position and velocity commands, using the Root Mean Square Error (RMSE) and the respective trajectory tracking error plots as the primary quantitative metric to better understand the simulation to real-world gap. For more information, take a look at the final report.