https://github.com/rishikesh-jadhav/simulation-and-technical-report-on-adaptive-control-for-uavs-equipped-with-a-robotic-arm

This repository contains my group project where we conducted simulations on adaptive control for Unmanned Aerial Vehicles (UAVs) equipped with a robotic arm. Additionally, we wrote a technical report on the project.
https://github.com/rishikesh-jadhav/simulation-and-technical-report-on-adaptive-control-for-uavs-equipped-with-a-robotic-arm

control-systems drone latex manipulator-control simulations

Last synced: about 2 months ago
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This repository contains my group project where we conducted simulations on adaptive control for Unmanned Aerial Vehicles (UAVs) equipped with a robotic arm. Additionally, we wrote a technical report on the project.

• Host: GitHub
• URL: https://github.com/rishikesh-jadhav/simulation-and-technical-report-on-adaptive-control-for-uavs-equipped-with-a-robotic-arm
• Owner: Rishikesh-Jadhav
• Created: 2022-12-24T22:45:21.000Z (about 2 years ago)
• Default Branch: main
• Last Pushed: 2024-01-08T01:04:08.000Z (about 1 year ago)
• Last Synced: 2024-01-09T02:23:29.429Z (about 1 year ago)
• Topics: control-systems, drone, latex, manipulator-control, simulations
• Language: Python
• Homepage:
• Size: 6.1 MB
• Stars: 1
• Watchers: 1
• Forks: 0
• Open Issues: 0
• Metadata Files:
  • Readme: README.md

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README

        
# Simulation and Technical Report on Adaptive Control for UAVs equipped with a Robotic Arm

![drone](drone.png)

This repository addresses the motion control challenges of an end effector attached to a quadrotor through a hierarchical control architecture. The work involves writing a comprehensive technical report and conducting simulations based on a research paper study. The control scheme and stability analysis play a crucial role in achieving effective motion control.

## Figures

### Fig.1 - End Effector Trajectory of the Manipulator

![End Effector Trajectory](https://github.com/Rishikesh-Jadhav/Simulation-and-Technical-Report-on-Adaptive-control-for-UAVs-equipped-with-a-robotic-arm/blob/main/Controls%20proj2.1.png)

### Fig.2 - Block Scheme of Control Architecture

![Control Architecture](https://github.com/Rishikesh-Jadhav/Simulation-and-Technical-Report-on-Adaptive-control-for-UAVs-equipped-with-a-robotic-arm/blob/main/Controls%20proj2.png)

### Fig.3 - Position and Rotation Error between Obtained and Desired Trajectories

![Error Analysis](https://github.com/Rishikesh-Jadhav/Simulation-and-Technical-Report-on-Adaptive-control-for-UAVs-equipped-with-a-robotic-arm/blob/main/controls_proj2.2.png)

### Fig.4 - End Trajectory

![End Trajectory](https://github.com/Rishikesh-Jadhav/Simulation-and-Technical-Report-on-Adaptive-control-for-UAVs-equipped-with-a-robotic-arm/blob/main/controls_proj2.3.png)

Feel free to explore the technical details and simulation results in the associated files. If you have any questions or suggestions, please don't hesitate to reach out.