SDRE Control Simulation of Quadrotors (Realistic Simulator)

The codes present MATLAB simulation of SDRE control on quadrotor drones in waypoint and trajectory tracking cases.

The codes are related to the paper:

Saeed Rafee Nekoo and Anibal Ollero, "Experimental Implementation of State-Dependent Riccati Equation Control on Quadrotors," Drone Systems and Applications, 2025. DOI: https://doi.org/10.1139/dsa-2024-0062

Download the paper: https://cdnsciencepub.com/doi/10.1139/dsa-2024-0062

The simulator is designed in a way to present the output as close as possible to a real experimental results; hence, the performance might seem inadequate in the simulator. Removing the constraints (such as orientation bounds on roll and pitch angles or PWM limits) from the code, the error can be reduced, and the motion of the drone might be faster. The limits are obtaiend to sequre stable motion by the multirotor and are defined based on the physical characteristics of the drone.

--To simulate waypoint tracking of the quadrotor model using the state-dependent Riccati equation (SDRE) controller, please run the code: "Section_6_1_Quadrotor_Drone_SDRE_Waypoints.m"

--To simulate trajectory tracking of the quadrotor model using the SDRE controller, please run the code: "Section_6_2_Quadrotor_Drone_SDRE_Tracking.m"

--To see the results of experiments for waypoint tracking, please run the code: “Plot_data_Quadrotor_WayPoints.m”

--To see the results of experiments for trajectory tracking, please run the code: “Plot_data_Quadrotor_Tracking.m”

--To plot all trajectories of the database for the watpoint tracking case, please run the code: “Plot_data_Waypoint_all_trajectories.m”

To see the experiment results, the data text files must be available in the working folder as well (please download all files completely).

The Python codes of the experimental implementation, related to Sections 5 and 7, as available as supplementary material of the paper on the journal’s website.

You may see the videos of the experimental implementation for both waypoint regulation and trajectory tracking in the following link: https://www.youtube.com/watch?v=NVwiSbqcJyM