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odefun_control1.m: Geometric control on SE(3)xR^2 quadrotor suspended with point mass. which illustrates the Matlab simulation and implementation of 'Geometric Control and Differential Flatness of a Quadrotor UAV with a Cable-Suspended Load - Koushil Sreenath, Taeyoung Lee, Vijay Kumar' link https://ieeexplore.ieee.org/document/6760219/ -
odefun_control2.m: Apply previous geometric control on SE(3)xR^2 quadrotor suspended with point mass into the offset dynamical model, where we can observe a final configuration error. -
odefun_control3.m: Apply improved geometric control on SE(3)xR^2 quadrotor suspended with point mass where there is an offset from the suspension point to the CoM of quadrotor. The desired states are generated by the differential flatness.