Geometric controllers developed at FDCL for UAVs
It is a known fact that quadrotor UAVs are in general under-actuated and nonlinear system and it is a challenge to control them, especially in case of aggressive maneuvers. Our goal in this project is to study the nonlinear geometric control approach to control a quadrotor. The configuration of the quadrotor system described on smooth nonlinear …
Nonlinear controls, linear controls, Lyapunov-based controls, MPC, geometric, etc.
Codes used for generating the results in the paper "Geometric Adaptive Controls of a Quadrotor UAV with Decoupled Attitude Dynamics"
MATLAB toolbox for analysing controllability and accessibility of nonlinear systems.
Lateral controller for path following using Pure pursuit Geometric controller
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