I have a controller that uses Theta,Z,Psi and Phi as a command. Now I want to create a position controller so that I can command a trajectory. I have checked a similar question raised in this attached link Position Controller for a Quadrotor

But I couldn't figure out how to calculate the vx and vy in this equation: \begin{align} \hat{\phi}^d &= k_{p,y} (y-y^d) + k_{d,y} (v_y - v_y^d) + k_{i,y} \int_0^t (y-y^d) dt \\ \hat{\theta}^d &= -k_{p,x} (x-x^d) = k_{d,x} (v_x - v_x^d) - k_{i,x} \int_0^t (x-x^d) dt \end{align} Are we going to use them as one of the command input or are there other ways to calculate them from the position?



Your Answer

By clicking “Post Your Answer”, you agree to our terms of service and acknowledge you have read our privacy policy.

Browse other questions tagged or ask your own question.