https://github.com/hybridrobotics/quad-load-offset
"Geometric Control of a Quadrotor with a Load Suspended from an Offset" by J. Zeng and K. Sreenath https://ieeexplore.ieee.org/document/8814939
https://github.com/hybridrobotics/quad-load-offset
Last synced: about 2 months ago
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"Geometric Control of a Quadrotor with a Load Suspended from an Offset" by J. Zeng and K. Sreenath https://ieeexplore.ieee.org/document/8814939
- Host: GitHub
- URL: https://github.com/hybridrobotics/quad-load-offset
- Owner: HybridRobotics
- License: mit
- Created: 2018-05-30T19:39:29.000Z (about 8 years ago)
- Default Branch: master
- Last Pushed: 2022-03-07T04:06:30.000Z (over 4 years ago)
- Last Synced: 2025-01-27T23:49:27.129Z (over 1 year ago)
- Language: MATLAB
- Homepage:
- Size: 36.2 MB
- Stars: 4
- Watchers: 2
- Forks: 0
- Open Issues: 1
-
Metadata Files:
- Readme: README.md
- License: LICENSE
Awesome Lists containing this project
README
# Quad-Load-Offset
A 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.
## References
If you find this project useful in your work, please consider citing following paper:
J. 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)
```
@inproceedings{zeng2019offset,
author={Zeng, Jun and Sreenath, Koushil},
booktitle={2019 American Control Conference (ACC)},
title={Geometric Control of a Quadrotor with a Load Suspended from an Offset},
year={2019},
volume={},
number={},
pages={3044-3050},
}
```
## Algorithm
- The approximate differential flatness is implemented by introducing two global variables. These two variables are updated in the controller `odefun_control2.m`.
```
R_ = R;
Omega_ = Omega;
```
- `odefun_control1.m`: Apply the zero offset geometric controller to the offset dynamical model, where we can observe a final configuration error.
- `odefun_control2.m`: Apply the geometric control to the offset dynamical model
## Results
The 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.