llanesc / lqr-tracking

A state dependent LQR controller for high accuracy trajectory tracking.

Introduction

This ROS package implements a state dependent LQR controller for high accuracy trajectory tracking. It was tested with PX4_SITL and Gazebo before being flown in an agile racing quad with a Raspberry Pi 3B companion computer.

Commands

Runs PX4, VRPN (VICON mocap), and relay pose data.

roslaunch lqr_controller mavros_vrpn.launch

Runs main controller and loads param.yaml file.

roslaunch lqr_controller lqr_euler.launch

Future Plans

Working on developing a learning algorithm for inflight thrust mapping. Strain gauges are attached to a quadrotor to collect thrust measurements in flight and how the mapping of normalized motor input [0,1] to thrust changes as a result of voltage decrement, ground effects, and propeller downwash.

Videos:

Acknowledgements:

This state dependent LQR controller is an extension of [1] for euler angles and quaternions.

References:

[1] Foehn, Philipp & Scaramuzza, Davide. (2018). Onboard State Dependent LQR for Agile Quadrotors. 10.1109/ICRA.2018.8460885.

lqr-tracking's Issues

Problems on compiling

Hi, I'm trying to compile this repo but I have some problems during catkin build: it always said to me that it cannot found blasfeo_target.h, but I have installed blasfeo. Can you help me? :)

Problem towards the inner loop PID control of PX4

Hi,
I was wondering if you just post the attitude message through the AttitudeTarget in mavros, the PID control of the inner loop in PX4 still working.
How can you ensure that LQR works in this scenerio?

Best,
Allen

Gazebo Test Model

Hello,

I was curious if you have any example code to apply the controller in gazebo quadrotor model? I see you mentioned testing it in gazebo.
Thanks