PID-SAC trajectory tracking control of a quadcopter

In this work a quaternion based quadcopter trajectory controller is designed and optimally tuned with a meta-heuristic optimization algorithm. The quadcopter mathematical model is derived from a quaternion parameterization of Newton-Euler equations. The flight control system is designed with a Proportional-Derivative controller and a Proportional-Intrgral-Derivative controller for the attitude and trajectory tracking control loop, respectively, and a simple adaptive control for the electric motors control. The controller parameters are tuned minimizing the error on the desired trajectory that is consistently defined for precision agriculture application.