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 …
Codes used for generating the results in the paper "Geometric Adaptive Controls of a Quadrotor UAV with Decoupled Attitude Dynamics"
Nonlinear controls, linear controls, Lyapunov-based controls, MPC, geometric, etc.
MATLAB toolbox for analysing controllability and accessibility of nonlinear systems.
Crazyflie 2.0 flight controller (PD/LQR) with polynomial trajectory generation and hardware validation
Rotations, rigid-body dynamics and geometric SE(3) tracking control for quadrotors, with experiments: speed sweep against a small-angle baseline, rotor-drag identification, and recovery from inverted flight where motor allocation decides the outcome. Tested Python, standard library.
Scientific writing and modeling portfolio on golf mechanics, multibody dynamics, and nonlinear control. Source for affinedrift.com.
Arb-certified local descent near regular projective-response levels in quantum control.
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