rodrigoleonello/masterThesisRepository

Repository for my master's thesis.

Package tum_ardrone with LQR and H infinity controller

This package is based on the following publications:

• Scale-Aware Navigation of a Low-Cost Quadrocopter with a Monocular Camera (J. Engel, J. Sturm, D. Cremers)
• Camera-Based Navigation of a Low-Cost Quadrocopter (J. Engel, J. Sturm, D. Cremers)
• Accurate Figure Flying with a Quadrocopter Using Onboard Visual and Inertial Sensing (J. Engel, J. Sturm, D. Cremers)

Basically, the implementation found in the tum_ardrone package was used to test different controllers.

The state feedback gains was calculated using the matlab files, seen in the matlab folder

You can find some videos on youtube: LQR controller and H infinity controller

Installation

with catkin

cd catkin_ws/src
git clone https://github.com/rodrigoleonello/masterThesisRepository -b main
cd ..
catkin_make

Quick start

Launch the nodes

roslaunch tum_ardrone ardrone_driver.launch
roslaunch tum_ardrone tum_ardrone.launch

Results

LQR controller

• Reference response

• Control signals

• 3D response

H infinity controller

• Reference response

• Control signals

• 3D response