JuliaCon 2023

Geometric Control of a Quadrotor : Simulation and Visualization
07-27, 15:50–16:00 (US/Eastern), 32-D463 (Star)

This talk will present a simulation of geometric control on a quadrotor model built using ModellingToolkit.j. The resulting trajectories will be visualized using Makie.jl. The talk will be a detailed overview of how to use these Julia packages to simulate and visualize the control of quadrotors

This talk will take you through the process of simulating geometric control on a quadrotor model using Julia programming language. We will begin by discussing the importance of quadrotors in various fields and the need for precise control. Next, we will delve into building a quadrotor model using the ModellingToolkit.jl package. You will learn about the advantages of using nonlinear geometric control methods over traditional linear control techniques.

After building the model, we will perform a simulation to visualize the control of the quadrotor. The simulation results will be animated using Makie.jl, a powerful visualization package in Julia. You will see the quadrotor's trajectories in real-time, which will help you understand how the control inputs affect the motion of the quadrotor.

Throughout the talk, you will learn about the Julia packages and the concepts used in simulating and visualizing geometric control. By the end of the talk, you will have a good understanding of how to use Julia to simulate and visualize the control of quadrotors.

The talk will be an overview with some hands-on examples.

Rajeev Shobhit Voleti received the bachelors degree (B.Tech) in aerospace engineering from the Indian Institute of Technology (IIT) Bombay, India in 2017. He is currently a Ph.D student at the University of Texas at Arlington, TX, USA. He has been an intern for JuliaHub working on JuliaSim Control. His research interests include cooperative control, nonlinear control, optimization, optimal control and estimation.