README.md

FSimZoo

FSimZoo.jl contains predefined environments and controllers for FlightSims.jl.

Breaking changes in v0.11

See NEWS.md.

Examples

• Examples include

  basics

  • (Linear system) LinearSystem
  • (A simple integrator) SingleIntegrator
  • (Reference model) ReferenceModel
  • (Nonlinear polynomial system) TwoDimensionalNonlinearPolynomialSystem
    • T. Bian and Z.-P. Jiang, “Value Iteration, Adaptive Dynamic Programming, and Optimal Control of Nonlinear Systems,” in 2016 IEEE 55th Conference on Decision and Control (CDC), Las Vegas, NV, USA, Dec. 2016, pp. 3375–3380. doi: 10.1109/CDC.2016.7798777.
  • (Nonlinear oscillator) TwoDimensionalNonlinearOscillator
    • J. A. Primbs, “Nonlinear Optimal Control: A Receding Horizon Approach,” California Institute of Technology, Pasadena, California, 1999.
  • (Multiple Envs) MultipleEnvs for multi-agent simulation
  Actuators

  • SecondOrderActuator
  fixed wings

  • (Wing Rock phenomenon) TarnWingRock, ElzebdaWingRock
  multicopters

  • (Hexacopter) LeeHexacopter, LeeQuadcopter, GoodarziAgileQuadcopter (currently maintained)
  • (Quadcopter) IslamQuadcopter, GoodarziQuadcopter
  allocators

  • (Moore-Penrose pseudo inverse control allocation) PseudoInverseAllocator
  controllers

  • (Linear quadratic regulator) LQR
  • (Proportional-Integral-Derivative controller) PID
    • Note that the derivative term is obtained via second-order filter.
  • (Pure proportional navigation guidance) PPNG
  • (For multicopter position tracking)
    • BacksteppingPositionController (control input: T_dot, M)
    • GeometricTrackingController (control input: T, M)
    • InnerLoopGeometricTrackingController and OuterLoopGeometricTrackingController (based on GeometricTrackingController but seperated for a hierarchical structure)
  • (Safety filters via control barrier functions (CBFs))
    • (Position CBF for input-affine systems) InputAffinePositionCBF
  integrated_environments

  • (Backstepping Position Controller + Static Allocator + Multicopter) BacksteppingPositionController_StaticAllocator_Multicopter
    • For example, BacksteppingPositionController (backstepping position controller) + PseudoInverseAllocator (pseudo-inverse allocator, a static allocator) + LeeHexacopter (hexacopter, a multicopter)
  • (Linear system + single integrator) LinearSystem_SingleIntegrator (WIP)
  • See src/environments/integrated_environments.

Utilities

• ned2enu and enu2ned: coordinate transformation