This repository contains scripts written in Python that simulate a quadrotor.
Three control strategies are implemented in the scripts.
In the geom_cont_Johnson.py the geometric controller proposed in [1] is developed, in geom_cont_Lee.py the controller proposed by [3] is developed and in geom_cont_decoupled.py the controller proposed by [2] is developed.
[1] Johnson, Jacob C., and Randal W. Beard. "Globally-attractive logarithmic geometric control of a quadrotor for aggressive trajectory tracking." IEEE Control Systems Letters 6 (2022): 2216-2221.
[2] Lee, Taeyoung, Melvin Leok, and N. Harris McClamroch. "Geometric tracking control of a quadrotor UAV on SE (3)." 49th IEEE conference on decision and control (CDC). IEEE, 2010.
[3] Gamagedara, Kanishke, et al. "Geometric controls of a quadrotor UAV with decoupled yaw control." 2019 American Control Conference (ACC). IEEE, 2019.