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README.md

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AutonomousControl

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

Vehicle Dynamics and Modeling

Control Algorithms

  1. PID Control
  2. LQR_Control
  3. Geometric Control
  4. Adaptive Control
  5. Robust Control
  6. Model Predictive Control
  7. Estimation and Filtering Libary

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 and Filtering Library

  1. Low pass and moving average filters

Build using bash scripts

cd AutonomousControl/Estimation_Filtering_lib
chmod +x build.sh run.sh

Run using bash scripts

cd AutonomousControl/Estimation_Filtering_lib
./build.sh 
./run.sh

## 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