Comments (1)
JacopoPan
commented on July 1, 2024
Hi @shanki98
there are a few implementations of 1, 2 and 3D controllers in the repository whose source you can peek at.
None of them is entirely original work of mine: they are based on examples developed by students in the lab.
If you want a reference paper, you could look at Mellinger's 2011 ICRA
https://github.com/JacopoPan/gym-pybullet-drones/blob/c53b703a852209fc1015fc9cea49e7cc7a3cb469/assignments/aer1216_fall2020_hw1_ctrl.py#L69
https://github.com/JacopoPan/gym-pybullet-drones/blob/c53b703a852209fc1015fc9cea49e7cc7a3cb469/assignments/aer1216_fall2020_hw2_ctrl.py#L105
https://github.com/JacopoPan/gym-pybullet-drones/blob/c53b703a852209fc1015fc9cea49e7cc7a3cb469/gym_pybullet_drones/control/SimplePIDControl.py#L65
https://github.com/JacopoPan/gym-pybullet-drones/blob/c53b703a852209fc1015fc9cea49e7cc7a3cb469/gym_pybullet_drones/control/DSLPIDControl.py#L68
from gym-pybullet-drones.
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from gym-pybullet-drones.