{"id":24741194,"url":"https://github.com/hybridrobotics/quad-load-offset","last_synced_at":"2026-05-05T03:35:02.707Z","repository":{"id":59364357,"uuid":"135489468","full_name":"HybridRobotics/Quad-Load-Offset","owner":"HybridRobotics","description":"\"Geometric Control of a Quadrotor with a Load Suspended from an Offset\" by J. Zeng and K. Sreenath https://ieeexplore.ieee.org/document/8814939","archived":false,"fork":false,"pushed_at":"2022-03-07T04:06:30.000Z","size":37923,"stargazers_count":4,"open_issues_count":1,"forks_count":0,"subscribers_count":2,"default_branch":"master","last_synced_at":"2025-01-27T23:49:27.129Z","etag":null,"topics":[],"latest_commit_sha":null,"homepage":"","language":"MATLAB","has_issues":true,"has_wiki":null,"has_pages":null,"mirror_url":null,"source_name":null,"license":"mit","status":null,"scm":"git","pull_requests_enabled":true,"icon_url":"https://github.com/HybridRobotics.png","metadata":{"files":{"readme":"README.md","changelog":null,"contributing":null,"funding":null,"license":"LICENSE","code_of_conduct":null,"threat_model":null,"audit":null,"citation":null,"codeowners":null,"security":null,"support":null}},"created_at":"2018-05-30T19:39:29.000Z","updated_at":"2025-01-15T07:51:18.000Z","dependencies_parsed_at":"2022-09-16T19:50:13.349Z","dependency_job_id":null,"html_url":"https://github.com/HybridRobotics/Quad-Load-Offset","commit_stats":null,"previous_names":[],"tags_count":0,"template":false,"template_full_name":null,"repository_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/HybridRobotics%2FQuad-Load-Offset","tags_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/HybridRobotics%2FQuad-Load-Offset/tags","releases_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/HybridRobotics%2FQuad-Load-Offset/releases","manifests_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/HybridRobotics%2FQuad-Load-Offset/manifests","owner_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners/HybridRobotics","download_url":"https://codeload.github.com/HybridRobotics/Quad-Load-Offset/tar.gz/refs/heads/master","host":{"name":"GitHub","url":"https://github.com","kind":"github","repositories_count":245013993,"owners_count":20547181,"icon_url":"https://github.com/github.png","version":null,"created_at":"2022-05-30T11:31:42.601Z","updated_at":"2022-07-04T15:15:14.044Z","host_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub","repositories_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories","repository_names_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repository_names","owners_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners"}},"keywords":[],"created_at":"2025-01-27T23:49:30.281Z","updated_at":"2026-05-05T03:35:02.640Z","avatar_url":"https://github.com/HybridRobotics.png","language":"MATLAB","funding_links":[],"categories":[],"sub_categories":[],"readme":"# Quad-Load-Offset\nA quadrotor with a point-mass payload suspended with an offset from the center-of-mass of the quadrotor to the suspension point is studied in this paper. A comparison of a geometric controller developed for a zero offset quadrotor-Ioad model is presented to motivate the need as well as demonstrate the advantages of our proposed geometric controller for the offset quadrotor-Ioad model.\n\n## References\nIf you find this project useful in your work, please consider citing following paper:\nJ. Zeng and K. Sreenath. \"Geometric Control of a Quadrotor with a Load Suspended from an Offset.\" *2019 American Control Conference (ACC)*. [[IEEE]](https://ieeexplore.ieee.org/document/8814939) \n```\n@inproceedings{zeng2019offset,\n  author={Zeng, Jun and Sreenath, Koushil},\n  booktitle={2019 American Control Conference (ACC)}, \n  title={Geometric Control of a Quadrotor with a Load Suspended from an Offset}, \n  year={2019},\n  volume={},\n  number={},\n  pages={3044-3050},\n}\n```\n## Algorithm\n- The approximate differential flatness is implemented by introducing two global variables. These two variables are updated in the controller `odefun_control2.m`.\n```\nR_ = R;\nOmega_ = Omega;\n```\n\n- `odefun_control1.m`: Apply the zero offset geometric controller to the offset dynamical model, where we can observe a final configuration error.\n- `odefun_control2.m`: Apply the geometric control to the offset dynamical model\n\n## Results\nThe controller performance can be found in two folders `non_offset_control` and `offset_control` and it turns out that the proposed controller is necessary when there is an offset between the suspension point and the center of the quadrotor.","project_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fhybridrobotics%2Fquad-load-offset","html_url":"https://awesome.ecosyste.ms/projects/github.com%2Fhybridrobotics%2Fquad-load-offset","lists_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fhybridrobotics%2Fquad-load-offset/lists"}