DroneModelBase_matlabScripting

Overview

This repository contains MATLAB scripts and classes for simulating the dynamics, control, and observer behavior of a quadrotor. The simulation framework is modular, enabling easy extension and integration of new controllers, estimators, and observers.

Features

• Simulates quadrotor dynamics, including translational and rotational motion.
• Implements a quaternion-based PD controller.
• Modular design for adding custom controllers and observers.
• Built-in scripts for comparing various observer techniques.
• Data logging and result analysis for trajectory tracking and observer performance.

Project Structure

.
├── Drone.m                    # Main class for quadrotor dynamics and control logic
├── DroneDynamic.m             # Handles the physical dynamics of the quadrotor
├── DroneDataExtention.m       # Data logging and visualization utilities
├── ObserverBase.m             # Base class for implementing observers
├── Kalman.m                   # Kalman Filter implementation
├── Luenberger.m               # Luenberger Observer implementation
├── SlidingModeEstimator.m     # Sliding Mode Observer implementation
├── SuperTwistEstimator.m      # Super-Twist Observer implementation
├── UDE.m                      # Uncertainity and Disturbance Estimator implementation
├── SoftTrajectoryGenerator.m  # Trajectory generation class
├── simObsComparation.m        # Script for comparing observer performance
├── simDrone.m                 # Main simulation script for quadrotor dynamics
├── simLuenberger.m            # Simulation script for Luenberger Observer
├── simSM.m                    # Simulation script for Sliding Mode Observer
├── simST.m                    # Simulation script for Super-Twist Observer
├── simUDE.m                   # Simulation script for UDE Observer
├── p_noisy.csv                # Sample noisy data for testing Kalman filter
├── ResultsAnalysis.m          # Script for analyzing simulation results
└── README.md                  # Project documentation

How to Run the Simulations

1. Compare Observer Performance

Run the simObsComparation.m script to simulate and compare the performance of different observers.

2. Simulate Specific Observers

Use one of the following scripts to simulate the performance of individual observers:

• simLuenberger.m
• simSM.m
• simST.m
• simUDE.m

3. General Quadrotor Simulation

Run simDrone.m for a general simulation of quadrotor dynamics, control, and trajectory following.

Adding Custom Modules

Extending Controllers or Observers

To implement new controllers or observers:

1. Create a new class inheriting from the appropriate base class (Drone or ObserverBase).
2. Override or implement methods for your custom logic.

Adding New Plots

To visualize additional data:

1. Add a new property in DroneDataExtention for storing the data.
2. Update the methods in DroneDataExtention to handle and plot the new data.

Related Implementation

This simulation framework is designed to complement the SimpleControl repository, which provides a real-time implementation of quadrotor control and observer logic using C++ and the FL-AIR framework.