https://github.com/plusk01/se3quad
Geometric Controller of a Quadrotor on SE(3)
https://github.com/plusk01/se3quad
control-systems lie-groups matlab quadrotor robotics
Last synced: 10 months ago
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Geometric Controller of a Quadrotor on SE(3)
- Host: GitHub
- URL: https://github.com/plusk01/se3quad
- Owner: plusk01
- Created: 2018-04-09T05:56:39.000Z (about 8 years ago)
- Default Branch: master
- Last Pushed: 2018-04-10T04:03:16.000Z (about 8 years ago)
- Last Synced: 2024-04-20T12:54:27.598Z (about 2 years ago)
- Topics: control-systems, lie-groups, matlab, quadrotor, robotics
- Language: Matlab
- Homepage:
- Size: 469 KB
- Stars: 41
- Watchers: 2
- Forks: 16
- Open Issues: 0
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Metadata Files:
- Readme: README.md
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README
Geometric Control of a Quadrotor on SE(3)
=========================================
This 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].
As 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.
## Resources ##
[Link](https://raw.githubusercontent.com/wiki/plusk01/se3quad/assets/geometric_control_presentation.pdf) to a presentation of this paper and implementation.
## Bibliography ##
[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.
[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.