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Multirotor Simulator in C++

This library contains the following main components:

  • Dynamics
  • Control
  • State

Dynamics

The main components of the dynamics are the following:

Control

This library implement a collection of controllers for multirotor vehicles.

  • PID Controller por position and velocity references.
  • Geometric Controller based on Differential Flatness (DF) for trajectory tracking.
  • Incremental Nonlinear Dynamic Inversion (INDI) controller for attitude control.

IMU and Inertial Odometry

This library implements a simple IMU simulator, adding noise to the angular velocity and linear acceleration measurements, and an inertial odometry estimator, which integrates the linear acceleration measurements to estimate state.

References

Beard, R. W. (2008). Quadrotor dynamics and control. Brigham Young University, 19(3), 46-56.

Smeur, Ewoud & Chu, Q.P. & Croon, Guido. (2015). Adaptive Incremental Nonlinear Dynamic Inversion for Attitude Control of Micro Air Vehicles. Journal of Guidance, Control, and Dynamics. 39. 1-12. 10.2514/1.G001490.

D. Mellinger and V. Kumar, Minimum snap trajectory generation and control for quadrotors, 2011 IEEE International Conference on Robotics and Automation, Shanghai, China, 2011, pp. 2520-2525, doi: 10.1109/ICRA.2011.5980409.