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 [email protected]: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 
[email protected]