├── .gitignore ├── .vscode └── launch.json ├── LICENSE ├── README.md ├── images ├── Compare_all_phi.png ├── Compare_all_phidot.png ├── CoordinateFrames.png ├── LQR_plot_actions.png ├── LQR_plot_all_with_reference.png ├── LQR_plot_only_specific_element.png ├── LQR_plot_reward.png ├── Learning_Eval_Mean_reward.png ├── OL-0_0_0.png ├── PID_Controller_plot_actions.png ├── PID_Controller_plot_all_with_reference.png ├── PID_Controller_plot_only_specific_element.png ├── PID_Controller_plot_reward.png ├── RotationalDirections.png └── RotorDirections.png ├── quadsim ├── __init__.py ├── scripts │ ├── __init__.py │ └── utils.py ├── src │ ├── __init__.py │ ├── controllers │ │ ├── __init__.py │ │ ├── hsl │ │ │ ├── ChangeLog │ │ │ ├── LICENCE │ │ │ ├── README │ │ │ ├── include │ │ │ │ └── CoinHslConfig.h │ │ │ └── lib │ │ │ │ ├── libcoinhsl.a │ │ │ │ ├── libcoinhsl.la │ │ │ │ ├── libcoinhsl.so.0 │ │ │ │ ├── libcoinhsl.so.0.0.0 │ │ │ │ ├── libhsl.so │ │ │ │ └── pkgconfig │ │ │ │ └── coinhsl.pc │ │ ├── linear_mpc.py │ │ ├── lqg.py │ │ ├── lqr.py │ │ ├── nonlinear_mpc.py │ │ └── pid.py │ ├── envs │ │ ├── __init__.py │ │ ├── quad.py │ │ └── util_history.py │ └── plotter.py └── tests │ ├── __init__.py │ ├── constants.py │ ├── test_lqg.py │ ├── test_lqr.py │ ├── test_mpc_linear.py │ ├── test_mpc_nonlinear.py │ ├── test_open_loop.py │ ├── test_pid.py │ ├── test_rl_a2c.py │ ├── test_rl_ddpg.py │ ├── test_rl_ppo.py │ ├── test_rl_sac.py │ ├── test_rl_td3.py │ └── unit_tests.py ├── results ├── 2M_training │ └── saves │ │ ├── a2c-quad │ │ └── a2c-quad_end.zip │ │ ├── ddpg-quad │ │ └── ddpg-quad_end.zip │ │ ├── ppo-quad │ │ └── ppo-quad_end.zip │ │ ├── sac-quad │ │ └── sac-quad_end.zip │ │ └── td3-quad │ │ └── td3-quad_end.zip ├── LQR_plot_actions.png ├── LQR_plot_all_with_reference.png ├── LQR_plot_only_specific_element.png ├── LQR_plot_reward.png ├── PID_Controller_plot_actions.png ├── PID_Controller_plot_all_with_reference.png ├── PID_Controller_plot_only_specific_element.png └── 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