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.

GeoControl

GeoControl(params: VehicleParams = VehicleParams(), control_mask: dict | None = None, 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	dict	Control mask dict mapped to target keys.	None
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	dict	Control mask dict mapped to state keys, used in update().

params instance-attribute

params: VehicleParams = params

Vehicle parameters for the controller.

control_mask instance-attribute

control_mask: dict = control_mask if control_mask is not None else {}

Control mask dict mapped to state keys, used in update().

reset

reset()

Reset controller state.

update

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

Compute thrust and moments from target and state.

参数：

名称	类型	描述	默认
target	dict	Desired state dict.	必需
state	dict	Current state dict with att_rotmat(3,3) / att_quat(4) / att_rotvec(3) / att_euler(3), pos(3), vel(3), ang_vel(3).	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: dict | None = None, 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	dict	Control mask dict mapped to target keys.	None
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 dicts (GeoControl layout).
reset	Reset controller state.

属性：

名称	类型	描述
params	VehicleParams	Vehicle parameters for the controller.
control_mask	dict	Control mask dict mapped to state keys, used in update().

params instance-attribute

params: VehicleParams = params

Vehicle parameters for the controller.

control_mask instance-attribute

control_mask: dict = control_mask if control_mask is not None else {}

Control mask dict mapped to state keys, used in update().

update

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

Adaptive geometric control using target/state dicts (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: dict | None = None, 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	dict	Control mask dict mapped to target keys.	None
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 dicts.
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	dict	Control mask dict mapped to state keys, used in update().

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: dict = control_mask if control_mask is not None else {}

Control mask dict mapped to state keys, used in update().

update

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

L1-augmented geometric control using target/state dicts.

参数：

名称	类型	描述	默认
target	dict	Desired state dict.	必需
state	dict	Current state dict with att_rotmat, pos, vel, ang_vel.	必需

返回：

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

reset

reset()

Reset controller state.