Drone architecture from Control Systems point of view
Introduction + General recap
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
Global view of the drone's control architecture
Follow up!
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)
Guide on extra information on rotation matrix mathematical derivation
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 convention used in this course
Rotation matrix application to the UAV 1
Rotation matrix application to the UAV 2
Transfer matrix derivation 1
Transfer matrix derivation 2
Transfer matrix derivation 3 (exercise)
Transfer matrix derivation 3 (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
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 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 for Engineers 1 - autonomous vehicle
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
Small angle roll and pitch assumption 1
Small 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
Future state prediction formula 2
Future state prediction formula 3
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
The simulation code explanation
MUST HAVE Matplotlib 3.2.2, NOT Matplotlib 3.3.3
Python installation instructions - Ubuntu
Python installation instructions - Windows 10
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
Thank You!
Python codes & course summary document
Last Words
INTUITION MATTERS! Applied Calculus for Engineers - Complete