L1 Adaptive Augmentation for Geometric Tracking Control of Quadrotors

MATLAB simulation by Khai Nguyen

Objective: Study and simulate this interesting work L1 Adaptive Augmentation for Geometric Tracking Control of Quadrotors

The main program MainGeoL1_v1.m includes three main sessions: (1) setup, (2) main loop, and (3) visualization

1. Setup:
   • This project is developed in MATLAB using object-oriented programming (OOP). This is the first time I try OOP in MATLAB and it works well.
   • Classes:
     • Quadrotor: defines quadrotor parameters and dynamics
     • Geometry: defines methods associated to cordinates
     • Planner: defines simulation scenarios (initial states, desired trajectories and disturbances). Scenario details are provided below.
     • Controller: defines geometric controller (baseline)
     • Visualize: defines methods to draw figures and animation for visualization
     • L1AC: defines L1 Adaptive Control algorithms
2. Main loop:
   • Step 1: Generate disturbances (time-continuous)
   • Step 2: Sample Ts
     • Calculate current desired trajectories
     • Calculate baseline control signal (Geometric Control)
     • Calculate adaptive control signal (L1AC)
     • Calculate total control input
   • Step 3: Apply control input to plant dynamics
   • Step 4: Return to Step 1 until finishing
3. Visualization
   • Draw figures on position tracking error, attitude tracking error, velocity tracking error, control input and disturbance estimate
   • Make animation of 3D quadrotor motion
   • Use MakeVideos.m to save gif

Scenarios

1. Planner(0, x) (x is a unused arbitrary value) presents a hovering quadrotor with one type of disturbance.
2. Planner(1, x) presents a quadrotor following a helix trajectory with disturbance dependent on x.
   • x = 1: No disturbance
   • x = 2, 3, 4: Different disturbances, see codes and the original paper for details
3. Planner(2, x) presents a quadrotor performing a flip with disturbance dependent on x.
   • x = 1: No disturbance
   • x = 2, 3, 4: Different disturbances, see codes and the original paper for details

Check out Simulation Results.docx

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