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Cursus: 201700173
201700173
Control for UAVs
Cursus informatie
Cursus201700173
Studiepunten (ECTS)5
CursustypeCursus
VoertaalEngels
Contactpersoonprof.dr.ir. A. Franchi
E-maila.franchi@utwente.nl
Docenten
Docent
prof.dr.ir. A. Franchi
Contactpersoon van de cursus
prof.dr.ir. A. Franchi
Collegejaar2021
Aanvangsblok
2B
AanmeldingsprocedureZelf aanmelden via OSIRIS Student
Inschrijven via OSIRISJa
Cursusdoelen
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
Inhoud
  • 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
Voorkennis
Mandatory:
• Linear algebra
• Control Engineering
• Modelling & Simulation
• Modern Robotics
Participating study
Master Electrical Engineering
Verplicht materiaal
Course material
Lectures notes, tutorials and slides handed during the course
Aanbevolen materiaal
-
Werkvormen
Hoorcollege
AanwezigheidsplichtJa

Opdracht
AanwezigheidsplichtJa

Toetsen
Test

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