High-fidelity PyChrono-based Simulator

Introduction

The UAV_Sim_PyChrono is a high-fidelity PyChrono-based simulator designed for multi-rotor UAVs (Uncrewed Aerial Vehicles).

Outlook on the Control Architecture

Autonomous UAVs with collinear propellers are inherently under-actuated. For this reason, the software includes:

• Inner Loop: Handles the rotational dynamics.
• Outer Loop: Handles the translational dynamics.

Both loops are governed by nonlinear equations of motion.

Available Control Solutions

This software currently offers two control solutions for the inner and outer loops:

1. Continuous-Time Feedback-Linearizing Control Law combined with a PID (Proportional-Integral-Derivative) Control Law.
2. The above control law is augmented by a Robust Model Reference Adaptive Control (MRAC) System, incorporating a simplified quadratic-in-the-velocity aerodynamic model.

For further details on these control architectures, refer to the publications found here.

Future versions of the software will include additional control systems.

Maintenance Team

• Andrea L'Afflitto
• Mattia Gramuglia

For more information, visit acslstack.com.

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This software is distributed under a permissive 3-Clause BSD License.