Modeling and Control of Multirotor Aerial Vehicles

Описание

Introduction to Modeling and Control for Multirotor Aerial Vehicles: Azarakhsh Keipour
This video is part of our Air Lab Summer School 2020.
Sessions list, overviews, and links to code: https://theairlab.org/summer2020


This session covers the concepts of modeling and control of a multirotor. We focus on two goals:
To give a practical introduction for the researchers interested in working on control of multirotors, including the different controller architectures and methods, new fully-actuated UAVs, etc.
To provide the people working in other fields of aerial robotics with the necessary knowledge to understand the behavior of their robots to help them improve and better debug the flight performance.
We begin with the high-level introduction of simple concepts such as kinematics and dynamics and continue with the controller architecture and PID controllers as the most common controller used in different parts of multirotor autopilots. Finally, we see how controllers work in practice by learning to tune and implement a controller to fly a multirotor in the MATLAB environment. We will cover the simulation with analysis for the multirotor, attitude control, and position control designs for traditional underactuated vehicles as well as newer fully-actuated multirotors.
To access the code and the slides for the tutorial, please visit: https://theairlab.org/summer2020



Chapters:
0:00 Introduction
7:19 Modeling Multirotors
21:42 Controller Architecture
39:46 PID Controllers
45:48 Additional Topics (Underactuated vs. Fully-Actuated)
51:42 About the Code
56:34 Task 1: Attitude Controller (Tuning PID)
1:02:57 Task 2: Position Controller (Implementing PID and Calculating Reference Attitude)
1:23:19 Task 3: Fully-Actuated Multirotors

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