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Applied Control Systems 3: UAV drone (3D Dynamics & control)

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About Course

Learn How to Model and Control a UAV Drone: Applied Control Systems 3

This free course from Udemy teaches you how to model and control a UAV drone. Learn about 3D dynamics, model predictive control, feedback linearization, and more. This course covers topics like:

  • Deriving the equations of motion using 3D Dynamics principles
  • Describing UAV quadcopter drone position and orientation in 3D space using rotation and transfer matrices
  • Understanding Newton-Euler 6 Degree of Freedom equations of motion
  • Using the Runge-Kutta integrator
  • Learning about propeller dynamics

By the end of this course, you’ll be able to understand the Python simulator code. This knowledge can give you a competitive edge in the engineering job market. Start your journey to becoming a drone expert today!

This course is completely free and available on Theetay, a website that offers a wide selection of free courses from top platforms like Udemy, Udacity, Coursera, MasterClass, NearPeer, and more. Learn about UAV drone control, 3D dynamics, model predictive control, feedback linearization, rotation and transfer matrices, Newton-Euler equations, Runge-Kutta integration, and propeller dynamics.

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What Will You Learn?

  • mathematical modelling of a UAV quadcopter drone
  • obtaining kinematic equations: Rotation & Transfer matrices
  • obtaining Newton-Euler 6 DOF dynamic equations of motion with rotating frames
  • going from equations of motion to a UAV specific state-space equations
  • understanding the gyroscopic effect & applying it to the UAV model
  • understanding the Runge-Kutta integrator and applying it to the UAV model
  • mastering & applying Model Predictive Control algorithm to the UAV
  • mastering & applying a feedback linearization controller to the UAV
  • combining Model Predictive Control and feedback linearization in one global controller
  • simulating the drone's trajectory tracking in Python using the MPC and feedback linearization controller

Course Content

Drone architecture from Control Systems point of view

  • Introduction + General recap
    04:11
  • UAV configuration + inertial VS body frame
    06:09
  • Inputs and outputs of a 6 Degree of Freedom UAV drone
    03:31
  • Propeller rotation directions 1
    02:06
  • Propeller rotation directions 2 – Helicopter example
    03:26
  • 1st control action – Thrust
    03:51
  • 2nd control action – Roll
    02:40
  • 3rd control action – Pitch (exercise)
    01:11
  • 3rd control action – Pitch (solution) + 4th control action – Yaw (exercise)
    02:15
  • 4th control action – Yaw (solution)
    01:33
  • Rotation vector direction
    03:59
  • Global view of the drone’s control architecture
    03:32
  • Follow up!
    01:04
  • Course Material Download Link
    00:00

Fundamental kinematics & dynamics equations for a 6 DOF system (Newton – Euler)

Specific UAV plant model

Recap of Applied Control Systems for Engineers 1 – autonomous vehicle

The UAV’s global control architecture

The MPC attitude controller

Feedback Linearization Controller

The simulation code explanation

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Student Ratings & Reviews

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Ahmad Mushtaq
9 months ago
Hell lot of maths but was really interesting.

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