SimpleControl

Overview

SimpleControl is a control framework designed for drones, providing flexible flight mode management and disturbance observer estimation. This project integrates various control and estimation methods and is developed for use with the FL-AIR framework.

Features

• Multiple Flight Modes:
  • Position Control
  • Trajectory Control
  • Sequence Control
• Disturbance Observer Estimation: Supports multiple observer techniques, including:
  • Kalman Filter (KF)
  • Luenberger Observer
  • Sliding Mode Observer
  • Super-Twist Observer
  • UDE (Unknown Disturbance Estimator)
• Data Logging: The system allows logging of simulation data in CSV format by configuring the Flags.h file.
• MATLAB Simulation: A related MATLAB simulation project is available at DroneModelBase_matlabScripting.
• Ready for Experimental Phase: The code is structured to transition into real-world testing.

Repository Structure

uav/src/.
├── Control
│   ├── DroneBase.cpp/.h      # Base class for drone control
│   ├── Drone.cpp/.h          # Drone control implementation
│   ├── Law.cpp/.h            # Control laws
│   ├── SoftTrajectoryGenerator.cpp/.h  # Trajectory generator
│   ├── Trayectory.cpp/.h     # Trajectory management
│   ├── Flags.h               # Configuration flags
├── Observer
│   ├── ObserverBase.cpp/.h   # Base class for observers
│   ├── KFC                   # Kalman Filter implementation
│   ├── Luenberger            # Luenberger Observer
│   ├── SlidingMode           # Sliding Mode Observer
│   ├── SuperTwist            # Super-Twist Observer
│   ├── UDE                   # Unknown Disturbance Estimator
├── main.cpp                  # Main execution file

Requirements

• C++ Compiler (C++11 or later)
• Eigen Library (Required for observer estimation)
• FL-AIR Framework (FLAIR Source)

Installation & Usage

1. Create a New Project in FL-AIR Workspace

To create a default FL-AIR demo and substitute the necessary files, run:

./createNewDemo.sh <name_of_project>

2. Build the Project

A script is provided to build the system (considering the project name is SimpleControl):

./buildMyDemos.sh

3. Run the Program

Once built by its self executes:

fairrun SimpleControl

4. Upload Cross-Compiled Files to the Drone

Use the following script to upload compiled files to the drone. Ensure the correct path to the drone's Linux workspace and its IP address:

nano ./uploadMyDemos.sh

./uploadMyDemos.sh

Make sure both the drone and your computer are on the same network before running this command XD.

FL-AIR Workspace Integration

For easier project integration within the FL-AIR workspace, make sure the following lines exist in the $FLAIR_ROOT/flair-src/CMakeLists.txt:

add_subdirectory(${CMAKE_SOURCE_DIR}/demos)
add_subdirectory(${CMAKE_SOURCE_DIR}/myDemos)

Configuration

Modify Flags.h for Data Logging

• Set the appropriate paths to save CSV simulation data by modifying the defines in Flags.h.

Related Projects

• MATLAB Simulation: DroneModelBase_matlabScripting

Configuration

Modify Flags.h for Data Logging

• Set the appropriate paths to save CSV simulation data by modifying the defines in Flags.h.

User Interface Parameters

The user interface is designed to provide configuration options:

• Behavior Selection: Allows selecting between Position, Trajectory, and Sequence modes.

• Position Box: Used in Position mode to set the target position:

  • x, y, z: Target position coordinates.
  • Yaw Euler: Target orientation.
  • Change Target Button: Toggles the aim position.

• DistEst Box:

  • Select the observer method to reject translation disturbances.
  • Rejection values: Represent the percentage of rejection (1 = 100%).
  • Reject Disturbance Button: Toggles whether disturbance rejection is active.

• DistRotEst Box:

  • Similar to DistEst but for rotational disturbances.

• DistSim Box:

  • Allows configuring the simulated disturbance applied to each axis (x, y, z).
  • Toggle Disturbance Button: Toggles whether the disturbance is applied.

• Kalman Filter Box:

  • Enables toggling the Kalman filter for position feedback.

• Charge Sequence Box (used in Sequence mode):

  • chargeHeight: Sets the upper margin to reach the target position.
  • chargePos: Defines a target offset from the target position.
  • Reset Sequence Button: Clears waypoints, resets the clock, and initializes the sequence again.

Custom Law Tuning

The Custom Law Tuning tab allows fine-tuning various parameters to optimize the drone's performance.

Parameters:

• Attitude Control:

  • Kp Attitude:
    • x: 1.2
    • y: 1.2
    • z: 4.0
  • Kd Attitude:
    • x: 0.15
    • y: 0.15
    • z: 1.0
  • Saturation Attitude: 0.8

• Position Control:

  • Kp Position:
    • x: 0.2
    • y: 0.2
    • z: 1.0
  • Kd Position:
    • x: 0.2
    • y: 0.2
    • z: 0.2
  • Saturation Position: 0.8
  • Saturation Position Force: 0.8

Additional parameters:

• Gains:

• Omega Trans:

  • x: 1.0
  • y: 1.0
  • z: 1.0

• Omega Rot:

  • x: 5.0
  • y: 5.0
  • z: 5.0

• Sliding Modes:

  • UpperBound Trans: 10.0
  • UpperBound Rot: 10.0
  • Filter Trans: 5.0
  • Filter Rot: 5.0
  • CE Trans: 8.01
  • CE Rot: 2.1
  • CDE Trans: 5.1
  • CDE Rot: 2.5

• Super Twist:

  • UpperBound Trans: 0.001
  • UpperBound Rot: 10.0
  • CE Trans: 0.001
  • CE Rot: 0.0
  • CDE Trans: 0.00001
  • CDE Rot: 0.0