mbshbn / Geometric_Control_on_SE3

Central Repo for SE(3) geometric controller for quadrotor UAVs

Geometric Control on SE(3)

Central Repo for SE(3) geometric controller with different programming languages

• C++
  • ROS Package
• Python
• Matlab
• Unit testing/validtion
  • Python Controller has some testing
  • C++ version using gtest

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Published papers:

• Decoupled Yaw Control on SE(3)
• Adaptive Geometric Control with Neural Network on SE(3) (wind rejection), ArXiv link
  • video links: autonomous 360 back-flip, hover flight, attitude flight
• PID Geometric control on SE(3), ArXiv link
• Geometric control on SE(3)
• Geometric attitude control on SO(3)
• Other variant:
  • Model identification on SE(3)
  • Model identification on SO(3)
  • Attitude Control on SO(3) with constraints
    • Code
  • For a rigid dumbbell around an asteroid