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Udaan 1.3.0
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Udaan 1.3.0

Getting started

  • Installation
  • Quick Start
  • Documentation
  • License

Guides

  • Getting started
  • Running simulations
  • Controllers

Theory

  • Theory
    • Preliminaries

API reference

  • udaan package
    • udaan.cli package
      • udaan.cli.demos module
      • udaan.cli.generate module
      • udaan.cli.run module
    • udaan.control package
      • udaan.control.quadrotor package
        • udaan.control.quadrotor.geometric_attitude module
        • udaan.control.quadrotor.geometric_l1_attitude module
        • udaan.control.quadrotor.position_l1 module
        • udaan.control.quadrotor.position_pd module
        • udaan.control.quadrotor.propeller_allocation module
      • udaan.control.quadrotor_cspayload package
        • udaan.control.quadrotor_cspayload.payload_controller module
    • udaan.core package
      • udaan.core.defaults module
      • udaan.core.exceptions module
      • udaan.core.types module
    • udaan.manif package
      • udaan.manif.S2 module
      • udaan.manif.SO3 module
      • udaan.manif.utils module
    • udaan.models package
      • udaan.models.base package
        • udaan.models.base.floating_pointmass module
        • udaan.models.base.multi_pointmass_suspended_payload module
        • udaan.models.base.pointmass_suspended_payload module
        • udaan.models.base.s2_pendulum module
      • udaan.models.mujoco package
        • udaan.models.mujoco.multi_quad_cs_pointmass module
        • udaan.models.mujoco.multi_quad_rigidbody module
        • udaan.models.mujoco.quadrotor_comparison module
        • udaan.models.mujoco.quadrotor_cspayload_fleet module
        • udaan.models.mujoco.quadrotor_fleet module
      • udaan.models.quadrotor package
        • udaan.models.quadrotor.base module
        • udaan.models.quadrotor.mujoco module
        • udaan.models.quadrotor.vfx module
      • udaan.models.quadrotor_cspayload package
        • udaan.models.quadrotor_cspayload.base module
        • udaan.models.quadrotor_cspayload.mujoco module
        • udaan.models.quadrotor_cspayload.vfx module
    • udaan.utils package
      • udaan.utils.assets package
        • udaan.utils.assets.mujoco_asset_creator module
        • udaan.utils.assets.xml_model_generator module
      • udaan.utils.plotting package
        • udaan.utils.plotting.quadrotor module
        • udaan.utils.plotting.quadrotor_cspayload module
      • udaan.utils.trajectory package
        • udaan.utils.trajectory.flip module
        • udaan.utils.trajectory.trajectory module
      • udaan.utils.vfx package
        • udaan.utils.vfx.quadrotor_cspayload_vfx module
        • udaan.utils.vfx.quadrotor_vfx module
      • udaan.utils.flat2state module
      • udaan.utils.flat2state_utils module
      • udaan.utils.geometry module
      • udaan.utils.logging module
      • udaan.utils.resize_gif module

References

  • References
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udaan.control.quadrotor_cspayload.payload_controller module¶

Payload position + cable attitude controller.

Sreenath, Lee, Kumar (2013) https://ieeexplore.ieee.org/abstract/document/6760219

class udaan.control.quadrotor_cspayload.payload_controller.QuadCSPayloadController[source]¶

Bases: PDController

__init__(**kwargs)[source]¶
compute(*args)[source]¶

payload position control

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udaan.control.quadrotor_cspayload package
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  • udaan.control.quadrotor_cspayload.payload_controller module
    • QuadCSPayloadController
      • QuadCSPayloadController.__init__()
      • QuadCSPayloadController.compute()