This software serves as a framework for the generation, testing and analysis of controllers pertaining to quad-rotor dynamics. The controllers are implemented in C89, utlilizing LAPACK and BLAS. It will also be possible to run the code with the CMSIS DSP ARM math library, as well as standalone without any dependencies (coming soon).

The general idea is to make use of a separate implementation in Julia, in order to

1. test all of the components of the controllers using unit testing,
2. quantitatively study their closed loop behavior in simulation,
3. tune them offline using semidefinite programming (coming soon).

Importantly, once a controller has been chosen and tuned for a given control problem, the exact code used in the simulations can be run directly on the application, being platform independent C-code. Thus the project does not aim to solve a single control problem, but rather serves as an analysis tool and implementation aid for any given aerial vehicle control problem.

For a holistic overview of the codebase, see the HTML documentation here.

Academic citations are welcomed, for the FSF and FOF controllers respectively:

@article{mgreiff2020robust,
  title={Attitude Control on SU(2): Stability, Robustness, and Similarities},
  author={Greiff, Marcus and Robertsson, Anders and Sun, Zhiyong},
  journal={IEEE control systems letters},
  year={2021}
}

@book{08166fa7ac4643149ea0b29bf5fe5d09,
  title = "Filtered Output Feedback Tracking Control of a Quadrotor UAV",
  author = "Erjen Lefeber and Marcus Greiff and Anders Robertsson",
  year = "2020",
  month = may,
  day = "9",
  language = "English",
  series = "DC Reports",
  publisher = "Eindhoven University of Technology, Dynamics and Control Group, Department of Mechanical Engineering, Eindhoven, The Netherlands",
  number = "DC 2020.053",
}

Note that the former reference is currently incomplete, as the paper is to appear in control systems letters in early 2021.

To run the code, you will need to install

• Julia (last run on 1.5.1, any >=1.4 should work)
• GCC (last run with version 9.3.0)
• LAPACK and BLAS (last run on version 3.9.0-1build1)
• Doxygen (last run on version 1.8.17)

The last point is only required if you wish to regenerate the docs (see the above links for platform specific installation instructions).

Once installed, clone the repository and enter the Julia REPL by

git clone https://github.com/mgreiff/AerialVehicleControl.jl
cd AerialVehicleControl.jl
julia

and activate the package by running

]activate .

You should now be able to run the tests and examples /test and /examples respectively, and the complete documentation can be found in an interactive HTML-format here, as generated from docs/DOCS.md. Running

include("examples/example_FSF_attitude.jl")

produces the following output