{"id":21195033,"url":"https://github.com/plusk01/se3quad","last_synced_at":"2025-07-10T03:34:24.598Z","repository":{"id":44566825,"uuid":"128721563","full_name":"plusk01/se3quad","owner":"plusk01","description":"Geometric Controller of a Quadrotor on SE(3)","archived":false,"fork":false,"pushed_at":"2018-04-10T04:03:16.000Z","size":480,"stargazers_count":41,"open_issues_count":0,"forks_count":16,"subscribers_count":2,"default_branch":"master","last_synced_at":"2024-04-20T12:54:27.598Z","etag":null,"topics":["control-systems","lie-groups","matlab","quadrotor","robotics"],"latest_commit_sha":null,"homepage":"","language":"Matlab","has_issues":true,"has_wiki":null,"has_pages":null,"mirror_url":null,"source_name":null,"license":null,"status":null,"scm":"git","pull_requests_enabled":true,"icon_url":"https://github.com/plusk01.png","metadata":{"files":{"readme":"README.md","changelog":null,"contributing":null,"funding":null,"license":null,"code_of_conduct":null,"threat_model":null,"audit":null,"citation":null,"codeowners":null,"security":null,"support":null}},"created_at":"2018-04-09T05:56:39.000Z","updated_at":"2024-04-20T12:54:27.598Z","dependencies_parsed_at":"2022-08-31T23:21:59.636Z","dependency_job_id":null,"html_url":"https://github.com/plusk01/se3quad","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/plusk01%2Fse3quad","tags_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/plusk01%2Fse3quad/tags","releases_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/plusk01%2Fse3quad/releases","manifests_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/plusk01%2Fse3quad/manifests","owner_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners/plusk01","download_url":"https://codeload.github.com/plusk01/se3quad/tar.gz/refs/heads/master","host":{"name":"GitHub","url":"https://github.com","kind":"github","repositories_count":225617272,"owners_count":17497320,"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":["control-systems","lie-groups","matlab","quadrotor","robotics"],"created_at":"2024-11-20T19:25:46.370Z","updated_at":"2024-11-20T19:25:47.382Z","avatar_url":"https://github.com/plusk01.png","language":"Matlab","readme":"Geometric Control of a Quadrotor on SE(3)\n=========================================\n\n\nThis repo contains MATLAB/Simulink code that implements a geometric controller on SE(3), based on the analysis and control presented by Lee et al. [1],[2].\n\nAs demonstrated in [2], the quadrotor is initialized upside down and is shown to stabilize itself into an upright position, as shown in the animation below.\n\n\u003cp align=\"center\"\u003e\n    \u003cimg src=\"https://raw.githubusercontent.com/wiki/plusk01/se3quad/assets/upside_down.gif\" width=\"50%\" /\u003e\n\u003c/p\u003e\n\n\n## Resources ##\n\n[Link](https://raw.githubusercontent.com/wiki/plusk01/se3quad/assets/geometric_control_presentation.pdf) to a presentation of this paper and implementation.\n\n## Bibliography ##\n\n[1] T. Lee, M. Leok, and N. H. Mcclamroch, *Geometric Tracking Control of a Quadrotor UAV on SE(3)*, in Conference on Decision and Control, 2010, pp. 5420–5425.\n\n[2] T. Lee, M. Leok, and N. H. McClamroch, *Control of Complex Maneuvers for a Quadrotor UAV using Geometric Methods on SE(3)*, [arXiv:1003.2005v4](https://arxiv.org/abs/1003.2005), 2010.\n","funding_links":[],"categories":[],"sub_categories":[],"project_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fplusk01%2Fse3quad","html_url":"https://awesome.ecosyste.ms/projects/github.com%2Fplusk01%2Fse3quad","lists_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fplusk01%2Fse3quad/lists"}