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| ece6554:project_quadcopter [2023/03/21 11:33] – [Control Approaches] classes | ece6554:project_quadcopter [2024/08/20 21:38] (current) – external edit 127.0.0.1 |
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| ==== Implementation ==== | ==== Implementation ==== |
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| Functional code stubs for the implementation are provided in the {{ ECE6554:projects:quadcopter.zip | quadcopter zipfile}}. They implement a constant control signal that most definitely fails to do the job, but provide enough structure to complete the project. Comments in the code should help to realize the necessary improvements. <color red>[NOTE: This zipfile is not yet ready. Working on it now.]</color> | Functional code stubs for the implementation are provided in the {{ ECE6554:projects:quadcopter.zip | quadcopter zipfile}}. They implement a constant control signal that most definitely fails to do the job, but provide enough structure to complete the project. Comments in the code should help to realize the necessary improvements. |
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| ===== Control Approaches ===== | ===== Control Approaches ===== |
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| There are several approaches to stabilizing the quadcopter. Which one to take depends on your comfort with control theory. They are listed below. | There are several approaches to stabilizing the quadcopter. Which one to take depends on your comfort with control theory. They are listed below. |
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| ===== Activities ===== | ===== Activities ===== |
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| Though the activities below involve application of linear control, the full nonlinear equations should be used for simulation. As a sanity check, it is usually a good idea to first implement with the linear system simulated as a confirmation. Once it works, switch to the nonlinear system dynamics and linear control law. Performance should be similar but degrade slightly. For expected documentation for the deliverables, see the [[ECE6554:Project_PlanarHeli | Planar Bi-Rotor Helicopter]] project description. | Though the activities below involve application of linear control, the full nonlinear equations should be used for simulation. As a sanity check, it is usually a good idea to first implement with the linear system simulated as a confirmation. Once it works, switch to the nonlinear system dynamics and linear control law. Performance should be similar but degrade slightly. For expected documentation for the deliverables, see the [[ECE6554:Project_PlanarHeli | Planar Bi-Rotor Helicopter]] project description. |
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| ===== References ===== | ===== References ===== |
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| For sure you need to be careful with these references. In addition to different reference frame conventions between Aerospace engineers and others, plus different ways of representing the $SE(3)$ Lie group state, there are actually slightly different dynamical equations for the quadcopter. The references below just give some idea for how static controllers are synthesized for these systems. The model chosen depends on what the authors wish to demonstrate or what kinds of constraints their control method has. | For sure you need to be careful with these references. In addition to different reference frame conventions between Aerospace engineers and others, plus different ways of representing the $SE(3)$ Lie group state, there are actually slightly different dynamical equations for the quadcopter. The references below just give some idea for how static controllers are synthesized for these systems. The model chosen depends on what the authors wish to demonstrate or what kinds of constraints their control method has. |
