fanjing1112 / autonomouscontrol

Autonomous flight control algorithms for quadrotor uavs, simulation and testing in MatLab/Simulink and SITL, px4, flightmare, ROS and Gazebo (Currently in development)

AutonomousControl

This is my personal repo of control, planning and estimation algorithms for autonomous flight

Control Algorithms

1. PID Control
2. LQR_Control
3. Geometric Control
4. Adaptive Control
5. Robust Control
6. Model Predictive Control

LQR_Control

Compling and runing the algorithm

Dependencies

Eigen

Install

Clone the repository

git clone [email protected]:sandeshthapa/AutonomousControl.git
cd ~/AutonomousControl/State_Dep_LQR_Quad/
g++ -std=c++11 -o test State_Dependent_LQR.cpp 
./test

Simulation

1. Simulation in ROS/Gazebo
2. PX4 SITL
3. MAVROS Controllers

Planning Algorithms

1. Minimum Snap

Estimation

1. EKF

Build issues:

fatal error: Eigen/Dense: No such file or directory Add

#include <eigen3/Eigen/Core>

instead of

#include <Eigen/Core>

Or compile with

g++ -I /usr/local/include/eigen3 myfile.cpp -o filetest

Contact

[email protected]