Final Project: Implementation of Quadrotor UAV PD Stabilization on Quaternions with Madgwick Filter
Project Overview
Designed and implemented a quadrotor UAV stabilization system using quaternion-based attitude representation, Madgwick IMU filtering, and proportional-derivative (PD) control for real-time flight stabilization.
Problem
Quadrotor UAV systems require stable real-time attitude control for yaw, pitch, and roll, while conventional Euler-angle methods suffer from singularity issues and inefficient computation on embedded microcontrollers.
Approach
Developed an X-type quadrotor hardware platform using GY-88 IMU sensors, implemented quaternion orientation estimation with Madgwick filter, and designed a PD controller based on the Newton-Euler dynamic model validated through MATLAB/Simulink simulation and physical testing.
Technologies Used
Additional Information
Related Projects
Mobile App for Power Plant
Developed a mobile power plant app with real-time monitoring, digital logsheets, analytics, and role-based operational dashboards.
Wireless Sensor Network: Fire Forest Monitoring & Detection
UAV hardware systems for IMU Sensors, GPS telemetry and thermal fire monitoring with real-time aerial surveillance capability.
EDF Aircraft Competition - National Institute of Aeronautics and Space
Aircraft Electric-Ducted-Fan (EDF) Control in reaching targets horizontally.