Created a vehicle simulation in python to simulate a simplified model of an aerial vehicle with three thrusters to test out two control methods: approximate linearization control and PID control, to analyze the performance of the vehicle autonomously orientating itself and following a user-set desired trajectory.
Program Language: Python
Approximate Linearization control was used to have the vehicle follow a desired trajectory. This is a useful application because aerial vehicles example with the Falcon 9. It could be desirable to have the rocket on reentry follow a precomputed trajectory that is deem safest based on perhaps the weather, and maybe the wind traffic
PID control was used as an alternative to approximate linearization. The main purpose of the PID control was to control the orientation of the vehicle.
To attempt to have the PID controller used and follow a desired trajectory it was assumed that the vehicle knows where its final destination is and then computes a polynomial trajectory and places some checkpoints along that path for it to follow. Essentially the checkpoints are used as guide for the vehicle.