Praneel Acharya

Praneel Acharya

PID control design, simulation and implementation for Parrot ARDrone

less than 1 minute read

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This project was carried out as a class project for the Robotics class (ME 541) at South Dakota State University. The goal was to develop a PID controller and tune it in MATLAB such that the quadcopter follows the desired trajectory.

The controller was based on the control law purposed by Tasy and his team (Tsay, Tain-Sou. “Guidance and control laws for quadrotor UAV.” WSEAS Trans. on Systems and Control 9 (2014): 606-613).

Once the controller was tuned in MATLAB, the gain values were provided to the existing interface that would write those gain values to the parrot ARDrone.

Screenshot of MATLAB/Simulink UAV model

Tuned gain trajectory following

Gain implemented in Parrot AR Drone.

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NACA 4 digit airfoil with maximum CL/CD

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In this project, we explore the different four-digit NACA airfoils. Four-digit NACA airfoil is described by three parameters: while first digit describes the maximum chamber as percentage of the chord, second digit describes of maximum camber the airfoil leading edge in tenths of the chord, and the last two digits describing maximum thickness as percent of the chord. Thus, we change those parameters and find the best NACA airfoil based on maximum CL/CD. Below is the summary.