MathWorks Excellence in Innovation project
video demonstrating the solution can be found here https://youtu.be/S1a9L4clW38
Need at least Matlab R2021a to work (just clone the repo and run the project, the flip at t=10s), sorry for the older releases.
PS: the solution here is functional but the simulink need to be clean a bit.
The solution is composed of a quaternion-based state estimator [1] and the controller used is described in [2] & [3].
[1] Faessler, Matthias & Fontana, Flavio & Forster, Christian & Scaramuzza, Davide. (2015). Automatic Re-Initialization and Failure Recovery for Aggressive Flight with a Monocular Vision-Based Quadrotor. Proceedings - IEEE International Conference on Robotics and Automation. 2015. 10.5167/uzh-111164.
[2] Y. Chen and N. O. Pérez-Arancibia, "Generation and real-time implementation of high-speed controlled maneuvers using an autonomous 19-gram quadrotor," 2016 IEEE International Conference on Robotics and Automation (ICRA), 2016, pp. 3204-3211, doi: 10.1109/ICRA.2016.7487489.
[3] Fatima Oliva-Palomo, Anand Sanchez-Orta, Pedro Castillo, Hussain Alazki, Nonlinear ellipsoid based attitude control for aggressive trajectories in a quadrotor: Closed-loop multi-flips implementation, Control Engineering Practice, Volume 77,2018, Pages 150-161, ISSN 0967-0661,https://lnkd.in/eWvR7bPK.