udaan.control.quadrotor.geometric_attitude module¶

Geometric attitude controller on SE(3) for quadrotor.

Taeyoung Lee, Melvin Leok, and N. Harris McClamroch, “Geometric Tracking Control of a Quadrotor UAV on SE(3)”, CDC 2010. Paper: http://www.math.ucsd.edu/~mleok/pdf/LeLeMc2010_quadrotor.pdf

class udaan.control.quadrotor.geometric_attitude.GeometricAttitudeController[source]¶

Geometric tracking control of a quadrotor UAV on SE(3).

Control law (Lee, Leok, McClamroch 2010, Eq. 18-19):

M = -kR·eR - kΩ·eΩ + Ω × J·Ω

where:

eR = 0.5·vee(Rdᵀ·R - Rᵀ·Rd) (attitude error on so(3)) eΩ = Ω - Rᵀ·Rd·Ωd (angular velocity error) f = F · R·e3 (scalar thrust)

compute(t, state, thrust_force, desired_att=None)[source]¶

Compute scalar thrust and torque vector.

Parameters:

state (tuple[SO3, TSO3]) – (R, Omega) — rotation matrix and body angular velocity.
thrust_force (ndarray[tuple[Any, ...], dtype[floating]]) – desired thrust force vector in world frame.
desired_att (tuple[SO3, TSO3, ndarray[tuple[Any, ...], dtype[floating]]] | None) – optional (Rd, Omegad, dOmegad) from differential flatness. When provided, overrides the attitude derived from thrust direction and adds feedforward terms.

Return type:

Returns:

(f, M) — scalar thrust and 3D torque vector.