A MATLAB implementation of geometric tracking control for a quadrotor UAV on SE(3)
Author: Bin Zhang.
Mail: zbin13@buaa.edu.cn
This is a MATLAB program for quadrotor UAV control using the geometric tracking controller proposed by Taeyoung Lee, Melvin Leok, and N. Harris McClamroch in their work "Geometric Tracking Control of a Quadrotor UAV on SE(3)". If you want to see more details of the derivations, please refer to http://dx.doi.org/10.1109/CDC.2010.5717652.
The usage of this program is very simple.
- Clone all the m files into your path.
- Run the test.m file.
- Wait for seconds, and you can see the results of the simulation.
The cases included in the program are from the original paper of Taeyoung Lee, etc.