Decoupled-Yaw Controller Comparison

This repository includes the codes used for generating the results in the paper “Geometric Adaptive Controls of a Quadrotor UAV with Decoupled Attitude Dynamics”.
For other controllers used at FDCL, or for other progamming languages, please check uav_geometric_control repository.

The repository is structures as follows:

• FDCL: includes simulations for two controllers
  • proposed geometric adaptive decoupled-yaw controller controller
  • geometric adaptive controller with coupled-yaw dynamics (link)
• Kooijman: simulation of “Trajectory Tracking for Quadrotors with Attitude Control on S^2 x S^1” (link)

• Brescianini: simulation of “Tilt-Prioritized Quadrocopter Attitude
  Control” (link)

• Common: functions such as desired trajectories and plotting which are common for all above controllers

• Data: data files used to generate plots and table in “Geometric Adaptive Controls of a Quadrotor UAV with Decoupled Attitude Dynamics”