quadrotor2D
dynamic equations for the the 2D quadrotor benchmark
Contents
Syntax
f = quadrotor2D(x,u,w)
Description
Dynamic equation for the 2D quadrotor benchmark (see Eq. (3) in [1]). The system states are the quadrotors x- and z-position, the quadrtoror orientiation, and the corresponding velocities. The control inputs to the system are the thrusts geneterated by the rotors.
Input Arguments
|
x |
system states x (dimension: [nx,1]) |
|
u |
control inputs u (dimension: [nu,1]) |
|
w |
disturbances w (dimension: [nw,1]) |
Output Arguments
|
f |
value of the dynamic function = time derivative of x |
See Also
References
- [1] Yuan et al. (2022), Safe-Control-Gym: A Unified Benchmark Suite for Safe Learning-Based Control and Reinforcement Learning in Robotics
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