The UAV_Sim_PyChrono is a high-fidelity PyChrono-based simulator designed for multi-rotor UAVs (uncrewed aerial vehicles).
Autonomous UAVs with collinear propellers are inherently under-actuated. For this reason, the software includes:
- Inner Loop: Handles the rotational dynamics.
- Outer Loop: Handles the translational dynamics.
Both loops are governed by nonlinear equations of motion.
This software currently offers an array of control solutions, spanning from classical continuous-time feedback-linearizing control laws combined with a PID (proportional-integral-derivative) control law to robust MRAC (model reference adaptive control) systems that can enforce user-defined constraints. For additional details, see our Wiki
This software is distributed under a permissive 3-Clause BSD License.