Applied Control Systems 3: UAV drone (3D Dynamics & control)

سرفصل های دوره

Modeling + state space systems + Model Predictive Control + feedback control + Python simulation: UAV quadcopter drone

1 - Drone architecture from Control Systems point of view

1 - Introduction

2 - UAV configuration inertial VS body frame

3 - Inputs and outputs of a 6 Degree of Freedom UAV drone

4 - Propeller rotation directions 1

5 - Propeller rotation directions 2 Helicopter example

6 - 1st control action Thrust

7 - 2nd control action Roll

8 - 3rd control action Pitch exercise

9 - 3rd control action Pitch solution 4th control action Yaw exercise

10 - 4th control action Yaw solution

11 - Rotation vector direction

12 - Clarification on measuring with respect to body or inertial frames.html

13 - Global view of the drones control architecture

14 - Follow up

2 - Fundamental kinematics & dynamics equations for a 6 DOF system Newton Euler

15 - Kinematics VS Dynamics

16 - Measuring the UAVs position exercise

17 - Measuring the UAVs position solution

18 - Intro to describing attitudes 1 exercise

19 - Intro to describing attitudes 2 solution new exercise

20 - 2D rotation matrix formulation solution new exercise

21 - From 2D to 3D rotations solution new exercise

22 - 3D rotation matrix formulation about the Z axis 1 solution

23 - 3D rotation matrix formulation about the Z axis 2 solution

24 - Projecting from 3D to 2D exercise

25 - Projecting from 3D to 2D solution constructing Rx and Ry matrices exercise

26 - Constructing Ry matrix solution

27 - Constructing Rx matrix solution

28 - Orthonormal matrices exercise

29 - Orthonormal matrices solution

30 - 3D rotation sequence 1 exercise

31 - 3D rotation sequence 2 solution

32 - 3D rotation sequence example exercise

33 - 3D rotation sequence example solution

34 - Intro to Euler angles rotation about moving body frames

35 - Intuition on different conventions

36 - Fixed VS Moving body frame rotations 1 exercise

37 - Fixed VS Moving body frame rotations 2 solution new exercise

38 - Fixed VS Moving body frame rotations 3 solution

39 - Rotation matrix conventions Intro

40 - Rotation matrix conventions RXYZ matrix product

41 - Rotation matrix conventions RZYX matrix product

42 - Rotation matrix conventions RXYX matrix product

43 - Rotation matrix conventions RXYZ vs RZYX example

44 - Rotation matrix conventions RXYZ vs RXYX example

45 - Rotation matrix application to the UAV 1

46 - Rotation matrix application to the UAV 2

47 - Why is a special Transfer matrix needed 1

48 - Why is a special Transfer matrix needed 2

49 - Why is a special Transfer matrix needed 3

50 - Transfer matrix derivation 1 exercise

51 - Transfer matrix derivation 2 solution new exercise

52 - Mathematical derivation of the Rzyx moving frame rotation matrix

53 - Transfer matrix derivation 4 solution

54 - Transfer matrix derivation 5

55 - Rotation & Transfer matrix application 1 Kinematics wrap up

56 - Rotation & Transfer matrix application 2 Kinematics wrap up

57 - Intro to Dynamics

58 - Dot product 1 Application

59 - Dot product 2 Application

60 - Dot product 3 Application exercise

61 - Dot product 4 Application solution

62 - Cross Product 1

63 - Cross Product 2 Exercise

64 - Cross Product 3 Solution

65 - Cross Product Application 1

66 - Cross Product Application 2 exercise

67 - Cross Product Application 2 Solution

68 - Mass moments of inertia & inertia tensor 1

69 - Mass moments of inertia & inertia tensor 2 exercise

70 - Mass moments of inertia & inertia tensor 3 solution

71 - Mathematical formulas of mass moments of inertia

72 - Mathematical formulas of products of inertia

73 - Principal axis

74 - Mass moment of inertia applied to the UAV.html

75 - Dynamics Translational Motion Inertial Frame

76 - Dynamics Translational Motion Body Frame 1

77 - Dynamics Translational Motion Body Frame 2

78 - Dynamics Translational Motion Body Frame 3

79 - Angular momentum VS angular velocity 1

80 - Angular momentum VS angular velocity 2

81 - Dynamics Rotational Motion Inertial frame

82 - Dynamics Rotational Motion Body frame 1

83 - Dynamics Rotational Motion Body frame 2

84 - Autonomous vehicle lateral acceleration through new lenses

85 - Dynamics Rotational Motion Body frame alternative form exercise

86 - Dynamics Rotational Motion Body frame alternative form solution

3 - Specific UAV plant model

87 - From 6 DOF NewtonEuler to statespace exercise

88 - From 6 DOF NewtonEuler to statespace solution

89 - Applying Force of gravity to the UAV exercise

90 - Applying Force of gravity to the UAV solution

91 - Applying control inputs to the UAV exercise

92 - Gyroscopic effect intuition control inputs solution

93 - Gyroscopic effect on a UAV intuition 1 exercise

94 - Gyroscopic effect on a UAV intuition 2 solution

95 - Gyroscopic effect on a UAV Math 1 exercise

96 - Gyroscopic effect on a UAV Math 2 solution

97 - Gyroscopic effect on a UAV Math 3

98 - Gyroscopic effect on a UAV Math 4

99 - From 6 DOF NewtonEuler to statespace Math 1 exercise

100 - From 6 DOF NewtonEuler to statespace Math 2 solution

101 - UAV plant model schematics 1 exercise

102 - UAV plant model schematics 2 solution

103 - Euler state integrator

104 - Runge Kutta integrator 1

105 - Runge Kutta integrator 2

106 - Runge Kutta integrator 3

107 - Runge Kutta integrator 4

108 - Runge Kutta integrator 5

109 - Runge Kutta integrator 6

110 - Runge Kutta integrator 7

111 - Runge Kutta integrator 8

112 - From control inputs to rotor angular velocities blade element theory 1

113 - From control inputs to rotor angular velocities blade element theory 2

114 - From control inputs to rotor angular velocities blade element theory 3

115 - From control inputs to rotor angular velocities blade element theory 4

116 - From control inputs to rotor angular velocities blade element theory 5

117 - From control inputs to rotor angular velocities blade element theory 6

118 - From control inputs to rotor angular velocities blade element theory 7

119 - From control inputs to rotor angular velocities blade element theory 8

120 - From control inputs to rotor angular velocities blade element theory 9

121 - From control inputs to rotor angular velocities blade element theory 10

122 - From control inputs to rotor angular velocities blade element theory 11

123 - From control inputs to rotor angular velocities blade element theory 12

124 - From control inputs to rotor angular velocities blade element theory 13

4 - Recap of Applied Control Systems 1 autonomous cars Math PID MPC

125 - Detailed recap 1 car & bicycle lateral equations of motion

126 - Detailed recap 2 LTI state space equations

127 - Detailed recap 3 continuous VS discrete LTI

128 - Detailed recap 4 system input calculation using Model Predictive Control

5 - The UAVs global control architecture

129 - The global control architecture scheme Intro

130 - The elements of the sequentialcascaded controller

131 - Different tasks of each subcontroller

132 - The Planner

133 - Stronger VS weaker dynamics 1

134 - Stronger VS weaker dynamics 2

135 - Reference trajectory equations in the planner

136 - The affect of the control inputs on future states

6 - The MPC attitude controller

137 - Review of the global control structure

138 - Review of the state space equations of the autonomous vehicle

139 - The UAVs dynamics and kinematics equations revisited

140 - Zero angle roll and pitch assumption 1

141 - Zero angle roll and pitch assumption 2

142 - Putting the state space equations in the Linear format 1

143 - Putting the state space equations in the Linear format 2

144 - Putting the state space equations in the Linear format 3

145 - Putting the state space equations in the Linear format 4

146 - Linear Parameter Varying form 1

147 - Linear Parameter Varying form 2

148 - Review of the steps from the equations of motion to the plant

149 - The dimensions of the state space equation matrices

150 - Future state prediction formula 1 simplified LPVMPC

151 - Future state prediction formula 2 simplified LPVMPC

152 - Future state prediction formula 3 nonsimplified LPVMPC

153 - Future state prediction formula 4 nonsimplified LPVMPC

154 - Future state prediction formula 5 nonsimplified LPVMPC

155 - Cost function 1

156 - Cost function 2

157 - Cost function 3

158 - Cost function 4

159 - Cost function 5

160 - Cost function 6

161 - Cost function 7

162 - Cost function 8

163 - Cost function 9

164 - Cost function 10

165 - Cost function 11

7 - Feedback Linearization Controller

166 - Equations of motion for position control inertial frame exercise

167 - Equations of motion for position control inertial frame solution

168 - General feedback control architecture

169 - Feedback Linearization Controller schematics Part 1

170 - Differential Equations intro

171 - Differential Equations & the control law

172 - Solving differential equations real roots 1

173 - Solving differential equations real roots 2

174 - Solving differential equations real roots 3

175 - Solving differential equations complex roots 1

176 - Solving differential equations complex roots 2

177 - Solving differential equations complex roots 3

178 - Solving differential equations complex roots 4

179 - Using the exponent for controlling a system exercise

180 - Using the exponent for controlling a system solution

181 - Poles & Laplace domain

182 - From poles to differential equation constants exercise

183 - From poles to differential equation constants solution

184 - From differential equations to statespace representation

185 - Eigenvalues in control engineering & Determinants

186 - Computing eigenvectors

187 - Laplace VS Fourier frequency domain

188 - Moving poles

189 - Feedback Linearization Controller schematics Part 2

190 - Simulation results with real & complex poles 1

191 - Simulation results with real & complex poles 2

192 - Simulation results with real & complex poles 3

193 - Feedback Linearization Controller schematics Part 3

194 - Final Stretch computing the final control inputs Part 1

195 - Final Stretch computing the final control inputs Part 2

196 - Recommended reading Great article about Kalman Filters.html

8 - The simulation code explanation

197 - Intro to Linux & macOS Terminal & Windows Command Prompt

198 - Python installation instructions

199 - Python installation instructions Windows 10

200 - Python installation instructions Ubuntu

201 - Python installation instructions macOS

202 - Simulation analysis & code explanation 1

203 - Simulation analysis & code explanation 2

204 - Simulation analysis & code explanation 3

205 - Simulation analysis & code explanation 4

206 - Simulation analysis & code explanation 5

207 - Simulation analysis & code explanation 6

208 - Simulation analysis & code explanation 7

209 - Simulation analysis & code explanation 8

210 - Simulation analysis & code explanation 9

211 - Simulation analysis & code explanation 10

212 - Simulation analysis & code explanation 11

213 - Simulation analysis & code explanation 12

214 - Simulation analysis & code explanation 13

215 - Simulation analysis & code explanation 14

216 - Simulation analysis & code explanation 15

217 - Basic intro to Python animations tools

218 - Final-Thesis.pdf

218 - MATLAB-version-All-files.zip

218 - Simulation codes & course summary document.html

218 - main-lpv-mpc-drone.zip

218 - modified-pages.pdf

218 - support-files-drone.zip

9 - Extra MPC constraints applied to the UAV

219 - Recap of MPC constraints in autonomous cars 1

220 - Recap of MPC constraints in autonomous cars 2

221 - Recap of MPC constraints in autonomous cars 3

222 - Recap of MPC constraints in autonomous cars 4

223 - Recap of MPC constraints in autonomous cars 5

224 - Application of MPC constraints to UAV drone 1

225 - Application of MPC constraints to UAV drone 2

226 - Application of MPC constraints to UAV drone 3

227 - Application of MPC constraints to UAV drone 4

228 - Application of MPC constraints to UAV drone 5

229 - No solution example autonomous cars 1

230 - No solution example autonomous cars 2

231 - Installation of solver libraries Intro

232 - Installation of solver libraries Windows 10

233 - Installation of solver libraries Ubuntu

234 - Installation of solver libraries MacOS

235 - MATLAB-version-All-files.zip

235 - UAV drone Python files WITH MPC constraints.html

235 - main-lpv-mpc-drone-constraints.zip

235 - support-files-drone-constraints.zip

236 - MPC constraints for UAV drone code explanation 1

237 - MPC constraints for UAV drone code explanation 2

238 - MPC constraints for UAV drone code explanation 3

239 - MPC constraints for UAV drone analysis of simulation results

10 - Last Words

240 - Thank You

241 - Well done Youve done it But dont stop here Keep going forward.html

67,300 تومان

خرید اشتراک افزودن به سبد خرید

خرید دانلودی فوری

در این روش نیاز به افزودن محصول به سبد خرید و تکمیل اطلاعات نیست و شما پس از وارد کردن ایمیل خود و طی کردن مراحل پرداخت لینک های دریافت محصولات را در ایمیل خود دریافت خواهید کرد.

تولید کننده: Udemy-Training