udaan.control.quadrotor package¶

Submodules¶

Module contents¶

Quadrotor controllers.

class udaan.control.quadrotor.DirectPropellerForceController[source]¶

Bases: Controller

__init__(**kwargs)[source]¶

compute(*args)[source]¶

Compute propeller forces given current state.

Returns:: four propeller forces in N
Return type:: ndarray

compute_alloc_matrix()[source]¶

Compute propeller force allocation matrix.

Propeller layout:

 (1)CW    CCW(0) [-1]      y^
      \_^_/                 |
       |_|                  |
      /   \                 |
(2)CCW     CW(3)           z.------> x

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

Bases: Controller

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

J·(hat(Ω)·Rᵀ·Rd·Ωd - Rᵀ·Rd·dΩd)

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)

__init__(**kwargs)[source]¶

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:

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

Returns:

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

property inertia¶

class udaan.control.quadrotor.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: