roimar90 / Planar-Quadrotor-Control

The aim of this project is to get our controller to follow each trajectory such that the error between the desired position from the trajectory and the actual position of the robot is small. Designed and implemented 4 different controllers (PD Controller, Feedback Linearization + PD Controller, Passivity Controller in the Regressor Form, and Passivity Robust Controller in the Regressor Form).

Planar-Quadrotor-Control

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References:

(i) J. Escareño · S. Salazar · H. Romero · R. Lozano: Trajectory Control of a Quadrotor Subject to 2D Wind Disturbances

(ii) https://www.coursera.org/learn/robotics-flight

(iii) http://underactuated.csail.mit.edu/Spring2020/

(iv) B. Erginer · E. Altuğ: Modeling and PD Control of a Quadrotor VTOL Vehicle

If you like what I do, or you want to support me:

Bitcoin address: bc1q5cjffml32qrvks3xd0hyau8jx3gf5cd04hrn77

Litecoin address: ltc1q9l4dr8jdtcakhe8qekep9lfwpgscpllxv5zy27

Tether address: 0x0006a16f43D0fdf480bCc88D4398Fe73D6806fc9

Licensed under GNU GPLv3 License.