Attitude and position control with minimum snap trajectory planning for quadrotor UAV

In this paper, the Quadrotor attitude control and the problem of trajectory tracking has been addressed with minimum snap trajectory generation algorithm. The control system has been designed using proportional plus derivative (PD) control with two feedback loops. The attitude and position controllers have been designed in inner and outer loop, respectively. The designed controller is first tested for helical, infinity shaped trajectory and then for a minimum snap trajectory, which is generated from specified waypoints in three-dimensional space. The Euler-Lagrange equation has been used to obtain minimum snap trajectory condition, which results in a seventh order polynomial. The coefficients of the polynomials are obtained by applying enough constraints on velocity, acceleration, and higher derivatives. The trajectory generation with designed controller has been implemented in MATLAB environment. The controller shows efficient performance and good trajectory tracking for all the trajectories with minimum tracking error.