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- Update README with link to project website - Add proposal pdf to docs folder - Add whitespace to PlantModel.m - Add home.md as homepage of website
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Sravan Balaji
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# Quadcopter Control
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ME/EECS 561 W20 Quadcopter control source code repository.
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UMICH EECS / MECHENG 561: Design of Digital Control Systems WN 2020
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Full State Feedback and Control of a Quadcopter Drone
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## Documentation
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Please see the project [website](https://me-561-w20-quadcopter-project.github.io/Quadcopter-Control/home) for documentation.
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docs/1. ME 561 Project Proposal.pdf
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docs/home.md
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# Full State Feedback and Control of a Quadcopter Drone <!-- omit in toc -->
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## Table of Contents <!-- omit in toc -->
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- [Contributors](#contributors)
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- [Documents](#documents)
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## Contributors
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### Project Team <!-- omit in toc -->
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- Sravan Balaji ([balajsra@umich.edu](mailto:balajsra@umich.edu))
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- Aditya Iyer ([adiyer@umich.edu](mailto:adiyer@umich.edu))
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- Lakshmanan Periakaruppan ([lperiaka@umich.edu](mailto:lperiaka@umich.edu))
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- Naman Shah ([namanvs@umich.edu](mailto:namanvs@umich.edu))
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- Sumedh Vaishampayan ([sumi@umich.edu](mailto:sumi@umich.edu))
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### EECS / MECHENG 561 W20 Course Staff <!-- omit in toc -->
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- Ram Vasudevan ([ramv@umich.edu](mailto:ramv@umich.edu))
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- Sid Dey ([siddey@umich.edu](mailto:siddey@umich.edu))
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## Documents
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1. [Project Proposal](1.%20ME%20561%20Project%20Proposal.pdf)
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2. [Final Report (Overleaf)](https://www.overleaf.com/read/kyjvdsxkfnmg)
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%Parameters source: https://sal.aalto.fi/publications/pdf-files/eluu11_public.pdf
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g=9.81;
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m = .468;
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Ix = 4.856*10^-3;
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Iy = 4.856*10^-3;
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Iz = 8.801*10^-3;
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%State Space Source: https://arxiv.org/ftp/arxiv/papers/1908/1908.07401.pdf
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%X' = Ax+Bu
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%y = Cx+Du
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%Inputs:
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%U1: Total Upward Force on the quad rotor along z-axis
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%U2: Pitch Torque (about x-axis)
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%U3: Roll Torque (about y-axis)
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%U4: Yaw Torque (about z-axis)
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A = [0 0 0 1 0 0 0 0 0 0 0 0;...
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0 0 0 0 1 0 0 0 0 0 0 0;...
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0 0 0 0 0 1 0 0 0 0 0 0;...
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0 0 0 0 0 0 0 -g 0 0 0 0;...
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0 0 0 0 0 0 g 0 0 0 0 0;...
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0 0 0 0 0 0 0 0 0 0 0 0;...
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0 0 0 0 0 0 0 0 0 1 0 0;...
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0 0 0 0 0 0 0 0 0 0 1 0;...
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0 0 0 0 0 0 0 0 0 0 0 1;...
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0 0 0 0 0 0 0 0 0 0 0 0;...
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0 0 0 0 0 0 0 0 0 0 0 0;...
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0 0 0 0 0 0 0 0 0 0 0 0];
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%Note: In paper, 1/m is in wrong spot
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B = [0 0 0 0;...
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0 0 0 0;...
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0 0 0 0;...
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0 0 0 0;...
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0 0 0 0;...
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1/m 0 0 0;...
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0 0 0 0;...
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0 0 0 0;...
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0 0 0 0;...
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0 1/Ix 0 0;...
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0 0 1/Iy 0;...
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0 0 0 1/Iz];
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C = [1 0 0 0 0 0 0 0 0 0 0 0;...
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0 1 0 0 0 0 0 0 0 0 0 0;...
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0 0 1 0 0 0 0 0 0 0 0 0;...
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0 0 0 0 0 0 1 0 0 0 0 0;...
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0 0 0 0 0 0 0 1 0 0 0 0;...
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0 0 0 0 0 0 0 0 1 0 0 0]
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D = zeros(6,4)
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% Parameters source: https://sal.aalto.fi/publications/pdf-files/eluu11_public.pdf
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g=9.81;
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m = .468;
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Ix = 4.856*10^-3;
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Iy = 4.856*10^-3;
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Iz = 8.801*10^-3;
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% State Space Source: https://arxiv.org/ftp/arxiv/papers/1908/1908.07401.pdf
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% X' = Ax+Bu
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% y = Cx+Du
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% Inputs:
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% U1: Total Upward Force on the quad rotor along z-axis
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% U2: Pitch Torque (about x-axis)
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% U3: Roll Torque (about y-axis)
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% U4: Yaw Torque (about z-axis)
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A = [0 0 0 1 0 0 0 0 0 0 0 0;...
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0 0 0 0 1 0 0 0 0 0 0 0;...
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0 0 0 0 0 1 0 0 0 0 0 0;...
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0 0 0 0 0 0 0 -g 0 0 0 0;...
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0 0 0 0 0 0 g 0 0 0 0 0;...
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0 0 0 0 0 0 0 0 0 0 0 0;...
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0 0 0 0 0 0 0 0 0 1 0 0;...
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0 0 0 0 0 0 0 0 0 0 1 0;...
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0 0 0 0 0 0 0 0 0 0 0 1;...
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0 0 0 0 0 0 0 0 0 0 0 0;...
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0 0 0 0 0 0 0 0 0 0 0 0;...
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0 0 0 0 0 0 0 0 0 0 0 0];
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% Note: In paper, 1/m is in wrong spot
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B = [0 0 0 0;...
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0 0 0 0;...
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0 0 0 0;...
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0 0 0 0;...
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0 0 0 0;...
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1/m 0 0 0;...
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0 0 0 0;...
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0 0 0 0;...
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0 0 0 0;...
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0 1/Ix 0 0;...
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0 0 1/Iy 0;...
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0 0 0 1/Iz];
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C = [1 0 0 0 0 0 0 0 0 0 0 0;...
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0 1 0 0 0 0 0 0 0 0 0 0;...
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0 0 1 0 0 0 0 0 0 0 0 0;...
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0 0 0 0 0 0 1 0 0 0 0 0;...
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0 0 0 0 0 0 0 1 0 0 0 0;...
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0 0 0 0 0 0 0 0 1 0 0 0];
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D = zeros(6,4);
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