Quadrotor control, path planning and trajectory optimization
Simulate the path planning and trajectory planning of quadrotors/UAVs.
Adaptive Sliding Mode Control
A simulation for quadrotor based on matlab
Geometric Controller of a Quadrotor on SE(3)
Cartesian Impedance Control of Quadrotor with a Robotic Arm
It is a known fact that quadrotor UAVs are in general under-actuated and nonlinear system and it is a challenge to control them, especially in case of aggressive maneuvers. Our goal in this project is to study the nonlinear geometric control approach to control a quadrotor. The configuration of the quadrotor system described on smooth nonlinear …
A model predictive control (MPC) design and implementation for a quadrotor balancing an inverted pendulum. Includes a stability analysis and an estimate of the region-of-recursive-stability.
A simulation of Teppo Luukkonen's paper "Modelling and control of quadcopter" in MATLAB/Simulink.
Unofficial geometric control implementation on quadrotors
My master's thesis code work: "Sliding mode control of a quadrotor with a suspended load for trajectories based on the differential flatness property of the system and input shaping "
Universal physical Analysis for Quadcopter about Control Based on Matlab.
Admittance Control strategy for the interaction between a Human and a Quadcopter.
A Benchmark of Quadrotor Path Following Algorithms.
Thapa, Sandesh, He Bai, and J. A. Acosta. "Cooperative aerial load transport with force control." IFAC-PapersOnLine 51, no. 12 (2018): 38-43.
🛸 Developed PID controllers for controlling quadrotors in 1-D, 2-D, and 3-D control in MATLAB simulation environment.
Derivation of quadcopter nonlinear 6 degree of freedom equations is provided in this section
This code implements a Model Predicitive Control algorithm for tarjectory tracking with quadrortor drones. It is inspired from the paper: Limaverde Filho, José Oniram de A., et al. "Trajectory tracking for a quadrotor system: A flatness-based nonlinear predictive control approach." 2016 IEEE Conference on Control Applications (CCA). IEEE, 2016.
Incremental Passive Fault-Tolerant Control for Quadrotors With up to Three Successive Rotor Failures
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