Skip to content

Control strategies for rotary wing Micro Aerial Vehicles using ROS

License

Notifications You must be signed in to change notification settings

caomuqing/mav_control_rw

 
 

Repository files navigation

mav_control_rw Build Status

Control strategies for rotary wing Micro Aerial Vehicles (MAVs) using ROS

Overview

This repository contains controllers for rotary wing MAVs. Currently we support the following controllers:

  • mav_linear_mpc : Linear MPC for MAV trajectory tracking
  • mav_nonlinear_mpc : Nonlinear MPC for MAV trajectory tracking
  • PID_attitude_control : low level PID attitude controller

Moreover, an external disturbance observer based on Kalman Filter is implemented to achieve offset-free tracking.

If you use any of these controllers within your research, please cite one of the following references

@incollection{kamelmpc2016,
                author      = "Mina Kamel and Thomas Stastny and Kostas Alexis and Roland Siegwart",
                title       = "Model Predictive Control for Trajectory Tracking of Unmanned Aerial Vehicles Using Robot Operating System",
                editor      = "Anis Koubaa",
                booktitle   = "Robot Operating System (ROS) The Complete Reference, Volume 2",
                publisher   = "Springer",
                year = “2017”,
}
@ARTICLE{2016arXiv161109240K,
          author = {{Kamel}, M. and {Burri}, M. and {Siegwart}, R.},
          title = "{Linear vs Nonlinear MPC for Trajectory Tracking Applied to Rotary Wing Micro Aerial Vehicles}",
          journal = {ArXiv e-prints},
          archivePrefix = "arXiv",
          eprint = {1611.09240},
          primaryClass = "cs.RO",
          keywords = {Computer Science - Robotics},
          year = 2016,
          month = nov
}

About

Control strategies for rotary wing Micro Aerial Vehicles using ROS

Resources

License

Stars

Watchers

Forks

Packages

No packages published

Languages

  • C++ 96.8%
  • CMake 1.7%
  • Python 1.5%