Trajectory Tracking Control Methods for an Autonomous Quadcopter

The problem of designing a trajectory tracking controller for a quadcopter UAV is addressed in this document. The motivation is to use the quadrotors in an industrial environment, where reliable, fast and precise execution of the flight tasks is mandatory. The goal therefore is to develop a control architecture that is able to satisfy these strict requirements. The control architecture consists of a trajectory designer and a controller part. The thesis introduces two types of trajectory planning algorithms with three different trajectory tracking control methods. The performance of the controllers is analyzed via 3D simulation