Geometric controllers developed at FDCL for UAVs

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 …

Nonlinear controls, linear controls, Lyapunov-based controls, MPC, geometric, etc.

Codes used for generating the results in the paper "Geometric Adaptive Controls of a Quadrotor UAV with Decoupled Attitude Dynamics"

MATLAB toolbox for analysing controllability and accessibility of nonlinear systems.

Geometric Controller with Artificial Potential method for trajectory planning of a quadrotor UAV drone