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mahfoudherraz's Projects

imu_sensor_fusion icon imu_sensor_fusion

This repository contains different algorithms for attitude estimation (roll, pitch and yaw angles) from IMU sensors data: accelerometer, magnetometer and gyrometer measurements

indi_quadrotor icon indi_quadrotor

This code is a simple implementation of Incremental Nonlinear Dynamics Inversion (INDI) algorithm for quadrotor attitude control. It is inspired from the paper: Coelho, Rodrigo, Alexandra Moutinho, and José Raul Azinheira. "Quadrotor Attitude Control using Incremental Nonlinear Dynamics Inversion." ICINCO (2). 2017.

mpc_quadrotor icon mpc_quadrotor

This code implements a Model Predicitive Control algorithm for tarjectory tracking with quadrortor drones. It is inspired from the paper: Limaverde Filho, José Oniram de A., et al. "Trajectory tracking for a quadrotor system: A flatness-based nonlinear predictive control approach." 2016 IEEE Conference on Control Applications (CCA). IEEE, 2016.

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