# aggressive_quadrotor_tracking_control_SE3

**Repository Path**: gchasing/aggressive_quadrotor_tracking_control_SE3

## Basic Information

- **Project Name**: aggressive_quadrotor_tracking_control_SE3
- **Description**: No description available
- **Primary Language**: Unknown
- **License**: Apache-2.0
- **Default Branch**: main
- **Homepage**: None
- **GVP Project**: No

## Statistics

- **Stars**: 0
- **Forks**: 0
- **Created**: 2025-12-02
- **Last Updated**: 2025-12-02

## Categories & Tags

**Categories**: Uncategorized

**Tags**: None

## README

### Minimum snap trajectory
The `.m` file implements minimim snap trajectory generation that was first proposed by the seminal paper :

[D. Mellinger and V. Kumar, “Minimum snap trajectory generation
and control for quadrotors,” in 2011 IEEE International Conference
on Robotics and Automation, pp. 2520–2525, 2011.](https://ieeexplore.ieee.org/document/5980409)

### Aggressive quadrotor tracking control
The Simulink file implements the entire cascaded incremental dynamic inversion framework proposed in the following paper:

[E. Tal and S. Karaman, “Accurate tracking of aggressive quadrotor
trajectories using incremental nonlinear dynamic inversion and differ-
ential flatness,” IEEE Transactions on Control Systems Technology,
vol. 29, no. 3, pp. 1203–1218, 2021](https://ieeexplore.ieee.org/document/9121690)

#### Note that due to the complexity in modeling a real UAV with ESCs, motors, sensors, we leave the UAV block incomplete in the motor control component. However, everything else in our Simulink model is a precise implementation of the architecture proposed in the paper above.