ECE717_FinalProject

Final Project for ECE717: Linear Systems. Trajectory Tracking with a Quaternion-based Quadcopter Model

This project contains 4 trajectory tracking controller designs for the quaternion-based quadcopter model. Two of them are based on feedback-linearization and 2 of them are based on equilibrium point linearization (hover).

For more details, take a look at the Final Report

Code

To run the simulation, download the source code and add to your MATLAB path. Run quatquad_main.m

Authors

• Victor Freire - University of Wisconsin-Madison