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

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