Fault Tolerant Controller

A python and ROS, implementation of paper: "Incremental Nonlinear Fault-Tolerant Control of a Quadrotor With Complete Loss of Two Opposing Rotors"

S. Sun, X. Wang, Q. Chu and C. d. Visser.

Requirements

• ros melodic
• rotors_simulator package
• python3

Installation

• git clone https://github.com/erickTornero/FTC_INDI.git
• create an environment with python3 >= 3.6

    pip install -e .

Fault Tolerant Controller using LQR

Launch ROS Environment

    roslaunch launchers/launchquad.launch

Run LQR FTC Controller

    python scripts/run_INDIcontroller.py

Run using docker

Build docker images

docker build . -f docker/Dockerfile.rotors -t rotors-sim-ftc:dev

docker build . -f docker/Dockerfile.ftc -t ftc-d:dev

docker compose -f docker/docker-compose.yaml up