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Kies de Nederlandse taal
Course module: 201700173
201700173
Control for UAVs
Course info
Course module201700173
Credits (ECTS)5
Course typeCourse
Language of instructionEnglish
Contact personprof.dr.ir. A. Franchi
E-maila.franchi@utwente.nl
Lecturer(s)
Lecturer
prof.dr.ir. A. Franchi
Contactperson for the course
prof.dr.ir. A. Franchi
Academic year2021
Starting block
2B
Application procedureYou apply via OSIRIS Student
Registration using OSIRISYes
Aims
The course introduces modelling, estimation, and control methods for multirotor Unmanned Aerial Vehicles (UAVs).
In addition to provide general knowledge for the main methods corresponding to such systems, the course
equips students with the knowledge and motivation that helps them pursue their Master thesis in aerial robotics topics
within RaM, if they are interested.
 
After successful completion of this course, the students will know:
 
  • the main UAV system components: mechatronics, actuators, sensors, and computation units
  • the models of the aerodynamic actuators and sensors of a multirotor UAVs and how to incorporate them in its kino-dynamic model
  • the main sensor-fusion-based state estimation methods for UAVs and how to implement and tune them
  • the main control methods for underactuated and fully-actuated multirotor UAVs and how to implement and tune them
  • how simulate the UAV model, the estimation algorithms, and the control algorithms in
  • the latest developments in control of multirotor UAVs with emphasis on physical interaction applications
Content
  • Mathematical tools for modelling and control of UAVs (kinematics, dynamics, observability, controllability)
  • System components of UAVs (mechanics, actuators, sensors, electronics, avionics, etc.)
  • Dynamics of multirotor UAVs (aerodynamics, control allocation, identification of dynamical parameters)
  • State estimation for UAVs (sensor models, calibration, state estimation algorithms)
  • Control of nonlinear underactuated systems and reference trajectory generation
  • Control of underactuated UAVs
  • Control of fully-actuated and morphing UAVs
  • Control for physical interaction of UAVs
Assumed previous knowledge
Mandatory:
• Linear algebra
• Control Engineering
• Modelling & Simulation
• Modern Robotics
Participating study
Master Electrical Engineering
Required materials
Course material
Lectures notes, tutorials and slides handed during the course
Recommended materials
-
Instructional modes
Assignment
Presence dutyYes

Lecture
Presence dutyYes

Tests
Test

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Kies de Nederlandse taal