erickTornero / FTC_INDI

FTC indi python version

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