Control of a 2D Quadrotor for Acrobatic Maneuvers

LQR and iLQR controllers for a 2D quadrotor.

Simulation of 2D quadrotor

The two algorithims for desgining the iLQR controller are given below.

The states during a full flip are vizualized below.

The control values are interpolated below.

To read a detailed report, click HERE

Name		Name	Last commit message	Last commit date
Latest commit History 31 Commits
assets		assets
LQR.py		LQR.py
README.md		README.md
discretizeDynamics.py		discretizeDynamics.py
flip.py		flip.py
iLQR.py		iLQR.py
iterative LQR to control a drone.ipynb		iterative LQR to control a drone.ipynb
quadrotor.png		quadrotor.png
quadrotor.py		quadrotor.py
trajectoryGeneration.py		trajectoryGeneration.py