This repository includes the codes used for generating the results in the paper "Geometric Adaptive Controls of a Quadrotor UAV with Decoupled Attitude Dynamics". For other controllers used at FDCL, or for other progamming languages, please check uav_geometric_control repository.
The repository is structures as follows:
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FDCL: includes simulations for two controllers
- proposed geometric adaptive decoupled-yaw controller controller
- geometric adaptive controller with coupled-yaw dynamics (link)
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Kooijman: simulation of "Trajectory Tracking for Quadrotors with Attitude Control on S^2 x S^1" (link)
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Brescianini: simulation of "Tilt-Prioritized Quadrocopter Attitude Control" (link)
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Common: functions such as desired trajectories and plotting which are common for all above controllers
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Data: data files used to generate plots and table in "Geometric Adaptive Controls of a Quadrotor UAV with Decoupled Attitude Dynamics"