It is a known fact that quadrotor UAVs are in general under-actuated and nonlinear system and it is a challenge to control them, especially in case of aggressive maneuvers. Our goal in this project is to study the nonlinear geometric control approach to control a quadrotor. The configuration of the quadrotor system described on smooth nonlinear geometric configuration spaces has been briefly discussed, and analyzed with the principles of differential geometry. This allows us to avoid any kind of singularities that would otherwise arise on local charts.
Readme to run Geometric tracking control for quadrotor on SE(3).
IEEE Paper : https://ieeexplore.ieee.org/document/5717652
To run the code, simply download the repositry and run the file (geometric_tracking_controller.m)
Special thanks to Mr. Avinash Siravuru for his open source Geometry-toolbox for matlab ( https://github.com/sir-avinash/geometry-toolbox )
It is a known fact that quadrotor UAVs are in general under-actuated and nonlinear system and it is a challenge to control them, especially in case of aggressive maneuvers. Our goal in this project is to study the nonlinear geometric control approach to control a quadrotor. The configuration of the quadrotor system described on smooth nonlinear geometric configuration spaces has been briefly discussed, and analyzed with the principles of differential geometry. This allows us to avoid any kind of singularities that would otherwise arise on local charts.