文件列表:

matlab (0, 2018-04-10)
matlab\DirtyDerivative.m (2125, 2018-04-10)
matlab\controller.m (3606, 2018-04-10)
matlab\drawAircraft.m (6378, 2018-04-10)
matlab\dxdt.m (1580, 2018-04-10)
matlab\dxdt_test.m (1264, 2018-04-10)
matlab\hat.m (471, 2018-04-10)
matlab\images (0, 2018-04-10)
matlab\images\boyssurface.png (67029, 2018-04-10)
matlab\images\hexacopter.png (312872, 2018-04-10)
matlab\images\tv.jpg (2380, 2018-04-10)
matlab\param.m (1009, 2018-04-10)
matlab\plotter.m (4004, 2018-04-10)
matlab\quad_dynamics.m (5289, 2018-04-10)
matlab\quadsim.slx (25848, 2018-04-10)
matlab\trajectory.m (133, 2018-04-10)
matlab\vee.m (724, 2018-04-10)

Geometric Control of a Quadrotor on SE(3) ========================================= This repo contains MATLAB/Simulink code that implements a geometric controller on SE(3), based on the analysis and control presented by Lee et al. [1],[2]. As demonstrated in [2], the quadrotor is initialized upside down and is shown to stabilize itself into an upright position, as shown in the animation below.

## Resources ## [Link](https://raw.githubusercontent.com/wiki/plusk01/se3quad/assets/geometric_control_presentation.pdf) to a presentation of this paper and implementation. ## Bibliography ## [1] T. Lee, M. Leok, and N. H. Mcclamroch, *Geometric Tracking Control of a Quadrotor UAV on SE(3)*, in Conference on Decision and Control, 2010, pp. 5420“5425. [2] T. Lee, M. Leok, and N. H. McClamroch, *Control of Complex Maneuvers for a Quadrotor UAV using Geometric Methods on SE(3)*, [arXiv:1003.2005v4](https://arxiv.org/abs/1003.2005), 2010.

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