3D trajectory control for quadrocopter

The demand for unattended aerial systems capable of fulfilling e.g. surveillance tasks in contaminated or inaccessible areas without any assistance of a human pilot is the motivation for the investigation of a 3D trajectory control. Hence, this paper deals with the development of such a control algorithm able to follow any kind of 3D trajectory within the quadrocopter´s capabilities. In this paper the 3D trajectory control algorithm is described. Many simulations were done to find the optimal trajectory course. Further, the control algorithm was implemented on a flight demonstrator for validation and experimental results regarding linear and circle trajectories are provided.