Nonlinear Control of Quadrotors
This repo hosts a collection of Jupyter/IPython notebooks that implement various control schemes for quadrotors.
Table of Contents
| Notebook | Topics |
|---|---|
| quadrotor_model | introductory material, derivation of equations of motion, base Quadrotor class |
| quadsim | the simulation framework that handles all of the plumbing from different components |
| utils | a set of utilities useful to multiple notebooks |
| pid | a simple successive-loop PID controller to verify that the simulation is working |
| smc_cranfield | an introductory example of sliding mode control for the inner loop by Shaik [1] |
| sliding_mode_control | a more in-depth sliding mode control scheme by L'Afflitto [2] |
References
[1] M. K. Shaik and J. F. Whidborne, "Robust Sliding Mode Control of a Quadrotor," 11th Int. Conf. Control, pp. 1-5, 2016.
[2] A. L'Afflitto, R. Anderson, and K. Mohammadi, "An Introduction to Nonlinear Robust Control for Unmanned Quadrotor Aircraft," IEEE Control Syst. Mag., vol. 38, no. June, pp. 102-121, 2018.