The course introduces modelling, estimation, and control methods for multirotor Unmanned Aerial Vehicles (UAVs).|
In addition to providing general knowledge of the main methods corresponding to such systems, the course equips students with the knowledge and motivation that helps them pursue their Master's thesis in aerial robotics topics within RaM, if they are interested.
After successful completion of this course:
- The student is able to write the dynamics equations of generic multi-rotor UAVs, including quadrotors, fully actuated, and titling propellers platforms;
- For the classes of multi-rotors encountered, the student picks the correct motion controller and is able to motivate the choice and explain the controller equations;
- The student can explain the algorithms used for estimating the position and attitude of a multirotor UAV and can discuss the meaning of the equations of typical filters (e.g., EKF, UKF, etc.);
- The student can explain the main electronic components (sensors, actuators, CPU, etc.), building blocks, and software, of a multi-rotor UAV.
- 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