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D-FaLL: Distributed Flying and Localisation Lab

D-FaLL: Distributed Flying And Localisation Laboratory

Quad-rotor P&S

This semester, HS 2017, is the first time we are running this P&S course and thus files link on this course site will be updated a few times over the course of the semester. Please check here occasionally for the latest script and exercise materials.

Abstract

Quad-rotors are becoming more and more commonplace as technological advancements increase capabilities and reduce costs. Quad-rotor vehicles are encountered both for domestic entertainment and industrial applications, some examples are: toys for people of all ages, professional cinematography, or, inspection of industrial scale structures and processes. One reason why quad-rotors have become so pervasive is their mechanical simplicity, which lends itself to the high operational reliability. Moreover, the control and estimation techniques required to stabilise a quad-rotor around hover require only the control theory taught to under-graduates, while acrobatic feats and fleet manoeuvres inspire many directions in current research.

The learning objective of this course are:
  • Be able to derive the continuous-time equations of motion for a general N-rotor vehicle,
  • Be able to simulate a general N-rotor vehicle for the purpose of testing and tuning controller and estimator designs,
  • Be able to explain how flight performance is affected by changes in the parameters of the N-rotor vehicle, for example mass, centre of gravity location, propeller aerodynamics,
  • Be able to explain why a quad-rotor design allows the control architecture to be de-coupled into a collection of separate simple controllers,
  • Experienced the challenges of tuning a PID controller for achieving stable hover of a quad-rotor, both in simulation and on the real-world system,
  • Be able to write C++ code for implementing a PID controller.

Course Material

Course Script

The course script is intended as a stand alone script that allows the student to review all the theory we cover in class, as well as provide additional information for those students wishing to delve further into particular topic covered. The script can be downloaded here (Version 2017-Sep-28)

Exercise 1

The goal of exercise 1 is to simulate the equations of motion for an N-rotor vehicle and through this gain a deeper understanding and intution for the vehicle's behaviour.
Exercise Sheet (Version 2017-Oct-06)

The following two files provide a template for Simulink that will assist in getting started with this exercise. To use the template you should save both files locally on you computer into the same folder. The multiple Simulink files are identical, just saved for different versions of Matlab, choose the file that is compatible with the version of Matlab you have installed on your computer.
Parameter script: matlab parameter script
Simulink template: R2016b , R2015a

Exercise 2

The goal of exercise 2 is to design, implement, and tune a PID controller for the Crazyflie 2.0 quad-rotor vehicle.
Exercise Sheet (Version 2017-Oct-27)

The following two files provide a template for Simulink that are the starting point for this exercise. To use the template you should save both files locally on you computer into the same folder. The multiple Simulink files are identical, just saved for different versions of Matlab, choose the file that is compatible with the version of Matlab you have installed on your computer.
Parameter script: matlab parameter script
Simulink template: R2016b , R2015a

Exercise 3

The goal of exercise 3 is to familiarise with the practical setup and then implement, and tune a PID controller for controller the yaw and altitude of the Crazyflie 2.0 quad-rotor vehicle.
Exercise Sheet (Version 2017-Nov-10)

Exercise 4

The goal of exercise 4 is to continue your implementation and tuning of a PID controller for controller the yaw and altitude, and then implement and tune controller for the x and y position of the Crazyflie 2.0 quad-rotor vehicle.
Exercise Sheet (Version 2017-Nov-17)