CS491/691: Introduction to Aerial Robotics › uploads › 5 › 8 › 4 › ... · The Aerial...
Transcript of CS491/691: Introduction to Aerial Robotics › uploads › 5 › 8 › 4 › ... · The Aerial...
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CS491/691: Introduction to Aerial Robotics
Dr. Kostas Alexis (CSE)
Topic: Flight Controls Introduction
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The Aerial Robot Loop
How to design theflight control of anaerial robot andprogram its autopilot.
Section 3 of our course
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MAV Dynamics To append the forces and moments we need to
combine their formulation with
Next step: append the MAV forces
and moments
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MAV Dynamics
MAV forces in the body frame:
Moments in the body frame:
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MAV Dynamics
MAV forces in the body frame:
Moments in the body frame:
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MAV Dynamics
Exchangeable symbols:
M with τ for Moments
F with f for forces
x,y,z when used for body-axis with b1,b2,b3
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Control System Block Diagram
There are simpler
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Control System Block Diagram
Simplified loop
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Attitude Control
Where the vee map : is the inverse of the hat map.
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The Hat Map and its Inverse
The hat map
Transforms a vector in to a 3x3 skew-symmetric matrix that
for any . The inverse of the hat map is denoted by the vee map:
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Attitude Control
Linearize the nonlinear model around hover:
Rotation error metric:
After Linearization:
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Attitude Control
PD Control Law:
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Position Control
PD Control Law:
Linearize the nonlinear model around hover:
Nominal Input:
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Position Control
PD Control Law:
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Find out more
http://www.kostasalexis.com/pid-control.html
http://www.kostasalexis.com/lqr-control.html
http://www.kostasalexis.com/linear-model-predictive-control.html
http://ctms.engin.umich.edu/CTMS/index.php?example=InvertedPendulum
§ion=ControlStateSpace
http://www.kostasalexis.com/literature-and-links.html
![Page 16: CS491/691: Introduction to Aerial Robotics › uploads › 5 › 8 › 4 › ... · The Aerial Robot Loop How to design the flight control of an aerial robot and program its autopilot.](https://reader036.fdocuments.us/reader036/viewer/2022062414/5f0340447e708231d408492d/html5/thumbnails/16.jpg)
Find out more
http://www.kostasalexis.com/pid-control.html
http://www.kostasalexis.com/lqr-control.html
http://www.kostasalexis.com/linear-model-predictive-control.html
http://ctms.engin.umich.edu/CTMS/index.php?example=InvertedPendulum
§ion=ControlStateSpace
http://www.kostasalexis.com/literature-and-links.html
![Page 17: CS491/691: Introduction to Aerial Robotics › uploads › 5 › 8 › 4 › ... · The Aerial Robot Loop How to design the flight control of an aerial robot and program its autopilot.](https://reader036.fdocuments.us/reader036/viewer/2022062414/5f0340447e708231d408492d/html5/thumbnails/17.jpg)
Very Simple Example
Control the decoupled roll dynamics of a multirotor aerial robot
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Very Simple Example
Similar transfer function example:
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Very Simple Example
How to fail terribly:
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Very Simple Example
How to think you did it OK before actually testing in practice:
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Very Simple Example
How to think you did it OK before actually testing in practice:
![Page 22: CS491/691: Introduction to Aerial Robotics › uploads › 5 › 8 › 4 › ... · The Aerial Robot Loop How to design the flight control of an aerial robot and program its autopilot.](https://reader036.fdocuments.us/reader036/viewer/2022062414/5f0340447e708231d408492d/html5/thumbnails/22.jpg)
Very Simple Example
How to think you did it OK before actually testing in practice:
![Page 23: CS491/691: Introduction to Aerial Robotics › uploads › 5 › 8 › 4 › ... · The Aerial Robot Loop How to design the flight control of an aerial robot and program its autopilot.](https://reader036.fdocuments.us/reader036/viewer/2022062414/5f0340447e708231d408492d/html5/thumbnails/23.jpg)
Very Simple Example
How to think you did it OK before actually testing in practice:
![Page 24: CS491/691: Introduction to Aerial Robotics › uploads › 5 › 8 › 4 › ... · The Aerial Robot Loop How to design the flight control of an aerial robot and program its autopilot.](https://reader036.fdocuments.us/reader036/viewer/2022062414/5f0340447e708231d408492d/html5/thumbnails/24.jpg)
Very Simple Example
How to think you did it OK before actually testing in practice:
![Page 25: CS491/691: Introduction to Aerial Robotics › uploads › 5 › 8 › 4 › ... · The Aerial Robot Loop How to design the flight control of an aerial robot and program its autopilot.](https://reader036.fdocuments.us/reader036/viewer/2022062414/5f0340447e708231d408492d/html5/thumbnails/25.jpg)
Find out more
http://www.kostasalexis.com/pid-control.html
http://www.kostasalexis.com/lqr-control.html
http://www.kostasalexis.com/linear-model-predictive-control.html
http://ctms.engin.umich.edu/CTMS/index.php?example=InvertedPendulum
§ion=ControlStateSpace
http://www.kostasalexis.com/literature-and-links.html
![Page 26: CS491/691: Introduction to Aerial Robotics › uploads › 5 › 8 › 4 › ... · The Aerial Robot Loop How to design the flight control of an aerial robot and program its autopilot.](https://reader036.fdocuments.us/reader036/viewer/2022062414/5f0340447e708231d408492d/html5/thumbnails/26.jpg)
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