I completed this analysis of control of the quadrotor for CDS 233 nonlinear control. I developed of control algorithms for a planar and full 3D quadrotor. Starting with feedback linearization and control Lyapunov functions. Then I implemented control safety functions and backup control barrier function. Finally we demonstrate MPC on both the planar and full 3D quadrotor.

This work was completed with a partner. My contributions in the paper included CLF-QPs, control safety functions, backup control barrier functions and MPC. Included below is the final paper and the final presentation. Here is the code written for this project by me.