nonlinearquad
A collection of Jupyter/IPython notebooks that implement quadrotor control schemes in an expository manner
MIT License
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Ecosystems:
Jupyter Notebook
Nonlinear Control of Quadrotors
This repo hosts a collection of Jupyter/IPython notebooks that implement various control schemes for quadrotors.
Table of Contents
| Notebook | Topics |
|---|---|
| quadrotor_model | introductory material, derivation of equations of motion, base Quadrotor class |
| quadsim | the simulation framework that handles all of the plumbing from different components |
| utils | a set of utilities useful to multiple notebooks |
| pid | a simple successive-loop PID controller to verify that the simulation is working |
| smc_cranfield | an introductory example of sliding mode control for the inner loop by Shaik [1] |
| sliding_mode_control | a more in-depth sliding mode control scheme by L'Afflitto [2] |
References
[1] M. K. Shaik and J. F. Whidborne, Robust Sliding Mode Control of a Quadrotor, 11th Int. Conf. Control, pp. 15, 2016.
[2] A. LAfflitto, R. Anderson, and K. Mohammadi, An Introduction to Nonlinear Robust Control for Unmanned Quadrotor Aircraft, IEEE Control Syst. Mag., vol. 38, no. June, pp. 102121, 2018.
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