A MATLAB toolkit for Unmanned Aerial Manipulator (UAM) control experiments: numerical models, trajectory generation, and pick‑and‑drop task controllers.
- A collection of MATLAB scripts for plotting, parameter setting, randomizing initial conditions, and publishing figures.
- Simulink models for tasks such as pick‑and‑drop and figure‑8 trajectory tracking.
- A reusable
robotics_lib/with helpers for frames, geometry, numerics, and plotting.
UAM_control/
├─ robotics_lib/ % common MATLAB helpers (math, transforms, plotting, I/O)
├─ README.md
├─ choose_settling.m
├─ compare_randomized_cases.m
├─ compare_w_nonadaptive.m
├─ figure8trajectory.m
├─ figure8trajectory2021_final.slx
├─ fixedarm_plotsgen.m
├─ io_pickndrop_plotsgen.m
├─ myprinttemplate.mat
├─ myprinttemplate2.mat
├─ pickndrop.slx
├─ random_initialization.m
└─ saveFigureAsPDF.m
-
MATLAB R2021a or newer.
-
Toolboxes (commonly used):
- Signal Processing Toolbox
- Control System Toolbox
Scripts/models that require a specific toolbox will error or warn with a clear message—open the file header for details.
- robotics_lib/ — shared utilities (frames, transforms, plotting, I/O). Add this to your path before running examples.
- figure8trajectory.m — parmeter setting for the controller.
- figure8trajectory2021_final.slx — Simulink model for trajectory tracking.
- pickndrop.slx — pick‑and‑place task model.
- choose_settling.m — helper to select settling‑time logic for experiments.
- random_initialization.m — creates randomized initial conditions for batch testing.
- compare_randomized_cases.m / compare_w_nonadaptive.m — illustrative comparisons between control setups.
- saveFigureAsPDF.m — consistent, publication‑ready figure export.
- myprinttemplate.mat / myprinttemplate2.mat — templates for figure aesthetics.
- io_pickndrop_plotsgen.m / fixedarm_plotsgen.m — plotting scripts.
ANCL2025.