geo

Geometric controllers and helpers for SE(3) tracking.

类：

名称	描述
GeoControl	Python implementation of Geometric Controller.
GeometricAdaptiveController	Python implementation of Geometric Adaptive Controller.
L1_GeoControl	Python implementation of L1 Adaptive Geometric Controller.

函数：

名称	描述
euler_zyx_to_R	Convert ZYX Euler angles into a rotation matrix.

GeoControl

GeoControl(params: VehicleParams = VehicleParams(), control_mask: list[int] = [1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1], gains: dict | None = None)

Bases: ControllerBase

Python implementation of Geometric Controller.

Based on: Taeyoung Lee, Melvin Leok, and N.H. McClamroch. "Geometric Tracking Control of a Quadrotor UAV on SE(3)" [DOI: 10.1109/CDC.2010.5717652].

Initialize gains and error buffers.

参数：

名称	类型	描述	默认
params	VehicleParams	Vehicle parameters.	VehicleParams()
control_mask	list[int]	Control mask for target/state channels.	[1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1]
gains	dict | None	Optional geometric gains for keys x/v/R/W.	None

方法：

名称	描述
reset	Reset controller state.
update	Compute thrust and moments from target and state.

属性：

名称	类型	描述
params	VehicleParams	Vehicle parameters for the controller.
control_mask	ndarray | Tensor	unified control mask for target/state channels, used in update(). e.g. using 9~11 for attitude yaw control.

params instance-attribute

params: VehicleParams = params

Vehicle parameters for the controller.

control_mask instance-attribute

control_mask: ndarray | Tensor = control_mask

unified control mask for target/state channels, used in update(). e.g. using 9~11 for attitude yaw control.

reset

reset()

Reset controller state.

update

update(target: ndarray, state: ndarray) -> np.ndarray

Compute thrust and moments from target and state.

参数：

名称	类型	描述	默认
target	ndarray	Desired state vector.	必需
state	ndarray	Current state vector.	必需

返回：

类型	描述
ndarray	np.ndarray: Control output ordered as [thrust, Mx, My, Mz].

GeometricAdaptiveController

GeometricAdaptiveController(params: VehicleParams = VehicleParams(), control_mask: list[int] = [1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1], gains: dict | None = None)

Bases: GeoControl

Python implementation of Geometric Adaptive Controller.

Based on: Farhad A. Goodarzi, Daewon Lee, and Taeyoung Lee. "Geometric Adaptive Tracking Control of a Quadrotor Unmanned Aerial Vehicle on SE(3) for Agile Maneuvers." [DOI: 10.1115/1.4030419].

Initialize adaptive gains and inherited geometry control.

参数：

名称	类型	描述	默认
params	VehicleParams	Vehicle parameters.	VehicleParams()
control_mask	list[int]	Control mask for target/state channels.	[1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1]
gains	dict | None	Optional geometric gains for keys x/v/R/W.	None

方法：

名称	描述
update	Adaptive geometric control using target/state vectors (GeoControl layout).
reset	Reset controller state.

属性：

名称	类型	描述
params	VehicleParams	Vehicle parameters for the controller.
control_mask	ndarray | Tensor	unified control mask for target/state channels, used in update(). e.g. using 9~11 for attitude yaw control.

params instance-attribute

params: VehicleParams = params

Vehicle parameters for the controller.

control_mask instance-attribute

control_mask: ndarray | Tensor = control_mask

unified control mask for target/state channels, used in update(). e.g. using 9~11 for attitude yaw control.

update

update(target: ndarray, state: ndarray) -> np.ndarray

Adaptive geometric control using target/state vectors (GeoControl layout).

返回：

类型	描述
ndarray	np.ndarray: Control output ordered as [thrust, Mx, My, Mz].

reset

reset()

Reset controller state.

L1_GeoControl

L1_GeoControl(params: VehicleParams = VehicleParams(), control_mask: list[int] = [1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1], gains: dict | None = None)

Bases: GeoControl

Python implementation of L1 Adaptive Geometric Controller.

Based on: Zhuohuan Wu, Sheng Cheng, Pan Zhao, Aditya Gahlawat, Kasey A. Ackerman, Arun Lakshmanan, Chengyu Yang, Jiahao Yu, Naira Hovakimyan. "L1Quad: L1 Adaptive Augmentation of Geometric Control for Agile Quadrotors with Performance Guarantees" [arXiv:2302.07208].

Initialize L1 adaptive parameters.

参数：

名称	类型	描述	默认
params	VehicleParams	Vehicle parameters.	VehicleParams()
control_mask	list[int]	Control mask for target/state channels.	[1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1]
gains	dict | None	Optional geometric gains for keys x/v/R/W.	None

方法：

名称	描述
update	L1-augmented geometric control using target/state vectors.
reset	Reset controller state.

属性：

名称	类型	描述
dt_L1		For large uncertainties ...
L1_params		Initialization of L1 inputs
params	VehicleParams	Vehicle parameters for the controller.
control_mask	ndarray | Tensor	unified control mask for target/state channels, used in update(). e.g. using 9~11 for attitude yaw control.

dt_L1 instance-attribute

dt_L1 = sim_dt

For large uncertainties ...

L1_params instance-attribute

L1_params = (As_v, As_omega, dt_L1, ctoffq1Thrust, ctoffq1Moment, ctoffq2Moment, mass, g, inertia)

Initialization of L1 inputs

params instance-attribute

params: VehicleParams = params

Vehicle parameters for the controller.

control_mask instance-attribute

control_mask: ndarray | Tensor = control_mask

unified control mask for target/state channels, used in update(). e.g. using 9~11 for attitude yaw control.

update

update(target: ndarray, state: ndarray) -> np.ndarray

L1-augmented geometric control using target/state vectors.

参数：

名称	类型	描述	默认
target	ndarray	12-dim vector [x,y,z,vx,vy,vz,roll,pitch,yaw,wx,wy,wz].	必需
state	ndarray	12-dim vector [x,y,z,vx,vy,vz,roll,pitch,yaw,wx,wy,wz].	必需

返回：

类型	描述
ndarray	np.ndarray: Control output ordered as [thrust, Mx, My, Mz].

reset

reset()

Reset controller state.

euler_zyx_to_R

euler_zyx_to_R(yaw: float, pitch: float, roll: float) -> np.ndarray

Convert ZYX Euler angles into a rotation matrix.

返回：

类型	描述
ndarray	np.ndarray: 3x3 rotation matrix.