AutonomousControl
This is my personal repo of control, planning and estimation algorithms for autonomous flight
Vehicle Dynamics and Modeling
Control Algorithms
- PID Control
- LQR_Control
- Geometric Control
- Adaptive Control
- Robust Control
- Model Predictive Control
- Estimation and Filtering Libary
Compling and runing the algorithm
Dependencies
Eigen
Install
Clone the repository
git clone git@github.com:sandeshthapa/AutonomousControl.git
cd ~/AutonomousControl/State_Dep_LQR_Quad/
g++ -std=c++11 -o test State_Dependent_LQR.cpp
./test
Simulation
- Simulation in ROS/Gazebo
- PX4 SITL
- MAVROS Controllers
Planning Algorithms
- Minimum Snap
Estimation and Filtering Library
- Low pass and moving average filters
Build using bash scripts
cd AutonomousControl/Estimation_Filtering_lib
chmod +x build.sh run.sh
Run using bash scripts
cd AutonomousControl/Estimation_Filtering_lib
./build.sh
./run.sh
## Build issues:
fatal error: Eigen/Dense: No such file or directory
Add
#include
instead of
#include
Or compile with
g++ -I /usr/local/include/eigen3 myfile.cpp -o filetest
### Contact
thapasandesh1@gmail.com