[ROS_MELODIC] Add Mellinger's and Silano et. al controllers #29
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Add the .h file of the spline trajectory generator and the necessary file to work with it
gsilano
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Feb 8, 2020
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@marco-marino95, please open an issue related to your problem. This conversation concerns the PR that has not yet been integrated into the master. |
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Apr 14, 2020
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Hi, Thanks |
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Hi @senceryazici! No, sorry. I'm still working on it and I don't know how long it will take. |
gsilano
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Apr 16, 2020
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The crazyflie_internal_model_controller.yaml file contains not working control gains. As with BebopS, it is needed to run an optimization script to find a working set of control gains. Instead, a complete review is required for the Mellinger's controller implementation.
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The new version aims to add two news controller algorithms: the Mellinger [1] and Silano et. al [2]. This branch concerns ROS Melodic version.
[1] D. Mellinger and V. Kumar, "Minimum snap trajectory generation and control for quadrotors," 2011 IEEE International Conference on Robotics and Automation, Shanghai, 2011, pp. 2520-2525. DOI: 10.1109/ICRA.2011.5980409
[2] G. Silano, P. Oppido and L. Iannelli, "Software-in-the-loop simulation for improving flight control system design: a quadrotor case study," 2019 IEEE International Conference on Systems, Man and Cybernetics (SMC), Bari, Italy, 2019, pp. 466-471. DOI: 10.1109/SMC.2019.8914154