udaan.control.quadrotor.geometric_l1_attitude module¶

Geometric L1 adaptive attitude controller on SO(3).

Kotaru, Edmonson, Sreenath (2020) https://doi.org/10.1115/1.4045558

class udaan.control.quadrotor.geometric_l1_attitude.AttitudeState[source]¶

Bases: object

Internal attitude state for reference model tracking.

Omega: TSO3¶

R: SO3¶

__init__(R=<factory>, Omega=<factory>, last_M=<factory>, last_t=0.0)¶

last_M: ndarray¶

last_t: float = 0.0¶

class udaan.control.quadrotor.geometric_l1_attitude.GeometricL1AttitudeController[source]¶

Bases: GeometricAttitudeController

Geometric L1 adaptive attitude control on SO(3).

Extends GeometricAttitudeController with L1 adaptive disturbance rejection for unmodeled torque disturbances.

From: Kotaru, Edmonson, Sreenath (2020) https://doi.org/10.1115/1.4045558

__init__(**kwargs)[source]¶

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

Compute thrust and torque with L1 adaptive disturbance rejection.

Parameters:

t (float) – current time.
state (tuple[SO3, TSO3]) – (R, Omega) — SO3 rotation and TSO3 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) feedforward.

Return type:

tuple[float, ndarray[tuple[Any, ...], dtype[floating]]]

Returns:

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

reset()[source]¶

Reset adaptation state for a new simulation.

Return type:: None