AutonomousControl

This is my personal repo of control, planning and estimation algorithms for autonomous flight

Control Algorithms

1. PID Control
2. LQR_Control
3. Geometric Control
4. Adaptive Control
5. Robust Control
6. Model Predictive Control

LQR_Control

Compling and runing the algorithm

Dependencies

Eigen

Install

Clone the repository

git clone git@github.com:sandeshthapa/AutonomousControl.git
cd ~/AutonomousControl/State_Dep_LQR_Quad/
g++ -std=c++11 -o test State_Dependent_LQR.cpp 
./test

Simulation

1. Simulation in ROS/Gazebo
2. PX4 SITL
3. MAVROS Controllers

Planning Algorithms

1. Minimum Snap

Estimation

1. EKF

Build issues:

fatal error: Eigen/Dense: No such file or directory Add

#include <eigen3/Eigen/Core>

instead of

#include <Eigen/Core>

Or compile with

g++ -I /usr/local/include/eigen3 myfile.cpp -o filetest

Contact

thapasandesh1@gmail.com