quad_geometric_control

Geometric control of Quadrotor on SE(3)

Matlab simulation and implementation of

• 'Geometric Tracking Control of a Quadrotor UAV on SE(3) - Taeyoung Lee, Melvin Leok, and N. Harris McClamroch' link: http://www.math.ucsd.edu/~mleok/pdf/LeLeMc2010_quadrotor.pdf
• 'Geometric Control and Differential Flatness of a Quadrotor UAV with a Cable-Suspended Load - Koushil Sreenath, Taeyoung Lee, Vijay Kumar' link: https://hybrid-robotics.berkeley.edu/publications/CDC2013_supplement.pdf

Running Examples

• Quadrotor

  main_se3.m
  

• Quadrotor with suspended load

  main_se3s2.m