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Momentum-based flight controller for Gazebo simulations

This controller is maintained for the robots:

  • iRonCub-Mk1_1_Gazebo
  • iRonCub-Mk1_Gazebo

Simulation type:

Without jet dynamics and estimated thrusts

Jets dynamic model is just the numerical integration of the desired thrusts rate of changes. The controller uses the thrusts from numerical integration.

With jet dynamics

Jet dynamic model is designed based on experiments with the real turbines. The thrust rate of change is stabilized towards the reference values by means of a low-level jets control that sets desired throttle values. The controller uses the thrusts from Gazebo.

With jet dynamics and estimated thrusts

Jet dynamic model is designed based on experiments with the real turbines. The thrust rate of change is stabilized towards the reference values by means of a low-level jets control that sets desired throttle values. The controller uses the estimated thrust from a EKF-based thrusts estimation algorithm.

Available simulations:

Robot: iRonCub-Mk1_Gazebo

SIMULATION TYPE TAKE OFF HOVERING SLOW FLIGHT MANEUVERS FAST FLIGHT MANEUVERS LANDING
Without jet dynamics and estimated thrusts YES YES YES YES YES
With jet dynamics YES YES YES NO YES
With jet dynamics and estimated thrusts NO NO NO NO NO

Robot: iRonCub-Mk1_1_Gazebo

SIMULATION TYPE TAKE OFF HOVERING SLOW FLIGHT MANEUVERS FAST FLIGHT MANEUVERS LANDING
Without jet dynamics and estimated thrusts YES YES YES YES YES
With jet dynamics YES YES YES NO NO
With jet dynamics and estimated thrusts NO NO NO NO NO