Add feedforward control to the quadrotor to facilitate tracking a ground robot.
1. Carefully read the handout feedforward.pdf.
2. Download the file feedforward.mdl and set T=0.01 and play with the simulation to understand the effect of the feedforward signal.
3. Download the file feedforward.zip which implements feedforward for the quadrotor in the cage. Understand the simulation and play with the target model to understand the effect of the feedforward signal.
4. In the simulation file target_tracking.zip add a communication signal from the target to the quadrotor and modify your autopilot to add the feedforward signal. Test and debug.