B.Sc. Thesis: Controller Design for Trajectory Tracking of an Indoor Quadrotor

• Collaborators: Behrooz Rahmani,
• June 2017 - February 2018

We implemented four separate PID controllers to control the quadrotor's yaw, pitch, roll, and altitude. We used an IMU to measure the attitude angles and designed a Kalman filter to estimate the altitude in the absence of a dedicated sensor. We tested the system and successfully enabled the quadrotor to follow predefined paths for simple maneuvers under calm conditions without wind.