Implementation and evaluation of geometric control of multirotor aerial vehicle

Na poˇcetku završnog rada predstavljene su Liejeve grupe, SO(3) i SE(3). Objašnjen je algoritam geometrijskog upravljanja na prostoru SE(3) preuzet iz [6]. Cilj rada bio je implementirati algoritam te dobiveni regulator usporediti s nekim od dostupnih PID regulatora. Pokazana je implementacija u Pythonu i ROS-u na heksakopteru Firefly. Testiranje je provedeno u simulatoru Gazebo. Pokazani su odzivi pozicije, kuta i brzine dobiveni zadavanjem skokovite promjene pozicije i na kontinuiranim trajektorijama. U zadnjem dijelu uspored¯en je implementirani geometrijski kontroler s PID regulatorom. Za usporedbu su dani prikazi odziva pozicije, kuta i brzine.In the first part Lie groups, SO(3) and SE(3), are presented. The objective of this work is to implement the geometric control algorithm from [6] and to compare it with a PID controller. The algorithm is implemented in Python and it is evaluated for the Gazebo model of a hexacopter vehicle (Firefly) within ROS environment. The controller is tested for step position reference and continuous trajectories. In a result section, the responses of position, angle and velocity are presented. In the final part, the implemented geometric controller is compared with a PID controller. Again, the position, angle and velocity responses are given for a comparison