package

Control

Reusable control algorithms

Execution-neutral feedback, guidance, and control components. Pure control maps are kept independent of vehicle parameterizations; named vehicles extend the reusable models with their physical constants and tuning.

Find a controller

PidController: sampled PID with command limits and tracking anti-windup.
Multirotor.LogLinear: SE_2(3) position/velocity tracking and SO(3) attitude control.
Multirotor.RateLoop: body-rate feedback.
Multirotor.Allocation: conversion from requested wrench to rotor commands.
Mpc: receding-horizon problem interfaces and transcriptions.

Connect the control chain

A planner supplies position, velocity, acceleration and heading references. A navigation estimate supplies the measured physical state. Outer-loop commands feed attitude/rate control and allocation, then a plant under Vehicles. Keep reference and measurement frames consistent; transport and actuator protocols belong at the vehicle boundary.

Members

Name	Kind	Description
PidParameters	record	Tuning for the shared sampled PID controller
PidCoefficients	record	Coefficients elaborated once before the embedded PID transition runs
PidState	record	Numeric state of one sampled PID transition
PidResult	record	Algebraic outputs of one sampled PID transition
pidTransition	function	Pure fixed-dimensional PID state transition for analysis and deployment
PidController	block	Always-running sampled PID with saturation anti-windup
tiltRateSetpoint	function	Geometric roll/pitch rate demand from the world-up direction
Allocation	package	Geometry-derived control effectiveness and allocation
Multirotor	package	Multirotor control algorithms
Mpc	package	Online receding-horizon optimal control as a plain Modelica library

Modelica declarations and implementation

Show parameters, interfaces and source

Parameters, inputs, outputs, defaults and equations from the source file.

package Control "Reusable control algorithms"
  annotation(
    uses(LieGroups, LinearAlgebra, MathUtilities, Planning),
    Documentation(info="<html>
    <p>Execution-neutral feedback, guidance, and control components. Pure
    control maps are kept independent of vehicle parameterizations; named
    vehicles extend the reusable models with their physical constants and
    tuning.</p>
  <h4>Find a controller</h4>
<ul>
<li><a href=\"modelica://Control.PidController\">PidController</a>: sampled PID
with command limits and tracking anti-windup.</li>
<li><a href=\"modelica://Control.Multirotor.LogLinear\">Multirotor.LogLinear</a>:
SE_2(3) position/velocity tracking and SO(3) attitude control.</li>
<li><a href=\"modelica://Control.Multirotor.RateLoop\">Multirotor.RateLoop</a>:
body-rate feedback.</li>
<li><a href=\"modelica://Control.Multirotor.Allocation\">Multirotor.Allocation</a>:
conversion from requested wrench to rotor commands.</li>
<li><a href=\"modelica://Control.Mpc\">Mpc</a>: receding-horizon problem interfaces
and transcriptions.</li>
</ul>
<h4>Connect the control chain</h4>
<p>A planner supplies position, velocity, acceleration and heading references.
A navigation estimate supplies the measured physical state. Outer-loop commands
feed attitude/rate control and allocation, then a plant under
<a href=\"modelica://Vehicles\">Vehicles</a>. Keep reference and measurement frames
consistent; transport and actuator protocols belong at the vehicle boundary.</p>
    </html>"));
end Control;