- Introduction
- UAV configuration + inertial VS body frame
- Inputs and outputs of a 6 Degree of Freedom UAV drone
- Propeller rotation directions 1
- Propeller rotation directions 2 - Helicopter example
- 1st control action - Thrust
- 2nd control action - Roll
- 3rd control action - Pitch (exercise)
- 3rd control action - Pitch (solution) + 4th control action - Yaw (exercise)
- 4th control action - Yaw (solution)
- Rotation vector direction
- Clarification on measuring with respect to body or inertial frames
- Global view of the drone's control architecture
- Follow up!
Online
₹ 529 3,199
Quick facts
particular | details | |
---|---|---|
Medium of instructions
English
|
Mode of learning
Self study
|
Mode of Delivery
Video and Text Based
|
Course and certificate fees
Fees information
certificate availability
certificate providing authority
The syllabus
Drone architecture from Control Systems point of view
Fundamental kinematics & dynamics equations for a 6 DOF system (Newton - Euler)
- Kinematics VS Dynamics
- Measuring the UAV's position (exercise)
- Measuring the UAV's position (solution)
- Intro to describing attitudes 1 (exercise)
- Intro to describing attitudes 2 (solution + new exercise)
- 2D rotation matrix formulation (solution + new exercise)
- From 2D to 3D rotations (solution + new exercise)
- 3D rotation matrix formulation about the Z axis 1 (solution)
- 3D rotation matrix formulation about the Z axis 2 (solution)
- Projecting from 3D to 2D (exercise)
- Projecting from 3D to 2D (solution) + constructing Rx and Ry matrices (exercise)
- Constructing Ry matrix (solution)
- Constructing Rx matrix (solution)
- Orthonormal matrices (exercise)
- Orthonormal matrices (solution)
- 3D rotation sequence 1 (exercise)
- 3D rotation sequence 2 (solution)
- 3D rotation sequence - example (exercise)
- 3D rotation sequence - example (solution)
- Intro to Euler angles (rotation about moving body frames)
- Intuition on different conventions
- Fixed VS Moving body frame rotations 1 (exercise)
- Fixed VS Moving body frame rotations 2 (solution + new exercise)
- Fixed VS Moving body frame rotations 3 (solution)
- Rotation matrix conventions - Intro
- Rotation matrix conventions - R_XYZ matrix product
- Rotation matrix conventions - R_ZYX matrix product
- Rotation matrix conventions - R_XYX matrix product
- Rotation matrix conventions - R_XYZ vs R_ZYX example
- Rotation matrix conventions - R_XYZ vs R_XYX example
- Rotation matrix application to the UAV 1
- Rotation matrix application to the UAV 2
- Why is a special Transfer matrix needed 1
- Why is a special Transfer matrix needed 2
- Why is a special Transfer matrix needed 3
- Transfer matrix derivation 1 (exercise)
- Transfer matrix derivation 2 (solution + new exercise)
- Mathematical derivation of the Rzyx (moving frame) rotation matrix
- Transfer matrix derivation 4 (solution)
- Transfer matrix derivation 5
- Rotation & Transfer matrix application 1 - Kinematics wrap up
- Rotation & Transfer matrix application 2 - Kinematics wrap up
- Intro to Dynamics
- Dot product 1 + Application
- Dot product 2 +Application
- Dot product 3 + Application (exercise)
- Dot product 4 + Application (solution)
- Cross Product 1
- Cross Product 2 (Exercise)
- Cross Product 3 (Solution)
- Cross Product Application 1
- Cross Product Application 2 (exercise)
- Cross Product Application 2 (Solution)
- Mass moments of inertia & inertia tensor 1
- Mass moments of inertia & inertia tensor 2 (exercise)
- Mass moments of inertia & inertia tensor 3 (solution)
- Mathematical formulas of mass moments of inertia
- Mathematical formulas of products of inertia
- Principal axis
- Mass moment of inertia applied to the UAV
- Dynamics: Translational Motion (Inertial Frame)
- Dynamics: Translational Motion (Body Frame) 1
- Dynamics: Translational Motion (Body Frame) 2
- Dynamics: Translational Motion (Body Frame) 3
- Angular momentum VS angular velocity 1
- Angular momentum VS angular velocity 2
- Dynamics: Rotational Motion (Inertial frame)
- Dynamics: Rotational Motion (Body frame) 1
- Dynamics: Rotational Motion (Body frame) 2
- Autonomous vehicle lateral acceleration through new lenses
- Dynamics: Rotational Motion (Body frame) - alternative form (exercise)
- Dynamics: Rotational Motion (Body frame) - alternative form (solution)
Specific UAV plant model
- From 6 DOF Newton-Euler to state-space (exercise)
- From 6 DOF Newton-Euler to state-space (solution)
- Applying Force of gravity to the UAV (exercise)
- Applying Force of gravity to the UAV (solution)
- Applying control inputs to the UAV (exercise)
- Gyroscopic effect intuition 1 + control inputs (solution)
- Gyroscopic effect intuition 2 (exercise)
- Gyroscopic effect intuition 3 (solution)
- Gyroscopic effect intuition 4
- Gyroscopic effect on a UAV intuition 1 (exercise)
- Gyroscopic effect on a UAV intuition 2 (solution)
- Gyroscopic effect on a UAV intuition 3
- Gyroscopic effect on a UAV - Math 1 (exercise)
- Gyroscopic effect on a UAV - Math 2 (solution)
- Gyroscopic effect on a UAV - Math 3
- Gyroscopic effect on a UAV - Math 4
- From 6 DOF Newton-Euler to state-space - Math 1 (exercise)
- From 6 DOF Newton-Euler to state-space - Math 2 (solution)
- UAV plant model schematics 1 (exercise)
- UAV plant model schematics 2 (solution)
- Euler state integrator
- Runge - Kutta integrator 1
- Runge - Kutta integrator 2
- Runge - Kutta integrator 3
- Runge - Kutta integrator 4
- Runge - Kutta integrator 5
- Runge - Kutta integrator 6
- Runge - Kutta integrator 7
- Runge - Kutta integrator 8
- From control inputs to rotor angular velocities - blade element theory 1
- From control inputs to rotor angular velocities - blade element theory 2
- From control inputs to rotor angular velocities - blade element theory 3
- From control inputs to rotor angular velocities - blade element theory 4
- From control inputs to rotor angular velocities - blade element theory 5
- From control inputs to rotor angular velocities - blade element theory 6
- From control inputs to rotor angular velocities - blade element theory 7
- From control inputs to rotor angular velocities - blade element theory 8
- From control inputs to rotor angular velocities - blade element theory 9
- From control inputs to rotor angular velocities - blade element theory 10
- From control inputs to rotor angular velocities - blade element theory 11
- From control inputs to rotor angular velocities - blade element theory 12
- From control inputs to rotor angular velocities - blade element theory 13
Recap of Applied Control Systems 1 - autonomous cars (Math + PID + MPC)
- Detailed recap 1: car & bicycle lateral equations of motion
- Detailed recap 2: LTI state - space equations
- Detailed recap 3: continuous VS discrete LTI
- Detailed recap 4: system input calculation using Model Predictive Control
The UAV's global control architecture
- The global control architecture scheme - Intro
- The elements of the sequential/cascaded controller
- Different tasks of each sub-controller
- The Planner
- Stronger VS weaker dynamics 1
- Stronger VS weaker dynamics 2
- Reference trajectory equations in the planner
- The affect of the control inputs on future states
The MPC attitude controller
- Review of the global control structure
- Review of the state space equations of the autonomous vehicle
- The UAV's dynamics and kinematics equations revisited
- Zero angle roll and pitch assumption 1
- Zero angle roll and pitch assumption 2
- Putting the state space equations in the Linear format 1
- Putting the state space equations in the Linear format 2
- Putting the state space equations in the Linear format 3
- Putting the state space equations in the Linear format 4
- Linear Parameter Varying form 1
- Linear Parameter Varying form 2
- Review of the steps from the equations of motion to the plant
- The dimensions of the state space equation matrices
- Future state prediction formula 1: simplified LPV-MPC
- Future state prediction formula 2: simplified LPV-MPC
- Future state prediction formula 3: nonsimplified LPV-MPC
- Future state prediction formula 4: nonsimplified LPV-MPC
- Future state prediction formula 5: nonsimplified LPV-MPC
- Cost function 1
- Cost function 2
- Cost function 3
- Cost function 4
- Cost function 5
- Cost function 6
- Cost function 7
- Cost function 8
- Cost function 9
- Cost function 10
- Cost function 11
Feedback Linearization Controller
- Equations of motion for position control (inertial frame) - exercise
- Equations of motion for position control (inertial frame) - solution
- General feedback control architecture
- Feedback Linearization Controller schematics - Part 1
- Differential Equations - intro
- Differential Equations & the control law
- Solving differential equations - real roots 1
- Solving differential equations - real roots 2
- Solving differential equations - real roots 3
- Solving differential equations - complex roots 1
- Solving differential equations - complex roots 2
- Solving differential equations - complex roots 3
- Solving differential equations - complex roots 4
- Using the exponent for controlling a system - exercise
- Using the exponent for controlling a system - solution
- Poles & Laplace domain
- From poles to differential equation constants - exercise
- From poles to differential equation constants - solution
- From differential equations to state-space representation
- Eigenvalues in control engineering & Determinants
- Computing eigenvectors
- Laplace VS Fourier frequency domain
- Moving poles
- Feedback Linearization Controller schematics - Part 2
- Simulation results with real & complex poles 1
- Simulation results with real & complex poles 2
- Simulation results with real & complex poles 3
- Feedback Linearization Controller schematics - Part 3
- Final Stretch - computing the final control inputs - Part 1
- Final Stretch - computing the final control inputs - Part 2
- Recommended reading: Great article about Kalman Filters
The simulation code explanation
- Intro to (Linux & macOS Terminal) & (Windows Command Prompt)
- MUST HAVE Matplotlib 3.2.2, NOT Matplotlib 3.3.3
- Python installation instructions - Ubuntu
- Python installation instructions - Windows 10
- Python installation instructions - macOS
- Simulation analysis & code explanation 1
- Simulation analysis & code explanation 2
- Simulation analysis & code explanation 3
- Simulation analysis & code explanation 4
- Simulation analysis & code explanation 5
- Simulation analysis & code explanation 6
- Simulation analysis & code explanation 7
- Simulation analysis & code explanation 8
- Simulation analysis & code explanation 9
- Simulation analysis & code explanation 10
- Simulation analysis & code explanation 11
- Simulation analysis & code explanation 12
- Simulation analysis & code explanation 13
- Simulation analysis & code explanation 14
- Simulation analysis & code explanation 15
- Basic intro to Python animations tools
- Simulation codes & course summary document
Extra: MPC constraints applied to the UAV
- Recap of MPC constraints in autonomous cars 1
- Recap of MPC constraints in autonomous cars 2
- Recap of MPC constraints in autonomous cars 3
- Recap of MPC constraints in autonomous cars 4
- Recap of MPC constraints in autonomous cars 5
- Application of MPC constraints to UAV drone 1
- Application of MPC constraints to UAV drone 2
- Application of MPC constraints to UAV drone 3
- Application of MPC constraints to UAV drone 4
- Application of MPC constraints to UAV drone 5
- No solution example (autonomous cars) 1
- No solution example (autonomous cars) 2
- Installation of solver libraries - Intro
- Installation of solver libraries - Ubuntu
- Installation of solver libraries - Windows 10
- Installation of solver libraries - MacOS
- UAV drone Python files WITH MPC constraints
- MPC constraints for UAV drone - code explanation 1
- MPC constraints for UAV drone - code explanation 2
- MPC constraints for UAV drone - code explanation 3
- MPC constraints for UAV drone - analysis of simulation results
Last Words
- Thank You!
- Well done! You've done it! But don't stop here! Keep going forward!
Instructors
Mr Mark Misin
Instructor
Freelancer