Drone Simulation and Control, Part 2: How Do You Get a Drone to Hover?

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In the last video, we showed we can manipulate the four motors of a quadcopter to maneuver it in 3D space by getting it to roll, pitch, yaw, and change its thrust. We also covered the four sensors we have at our disposal to estimate the system states.
In this video, we’re going to use that knowledge to design a control system architecture for hovering a quadcopter. We’re going to figure out which states we need to feedback, how many controllers we need to build, and how those controllers interact with each other.
See the entire Drone Simulation and Control Series: bit.ly/2RmLZLQ
Related Resources:
• Simulink Hardware Support Package for PARROT Minidrone: bit.ly/2C99ynb
• Introduction to Simulink Hardware Support for PARROT Minidrones: bit.ly/2CapENk
• Quadcopter Simulation and Control Made Easy: bit.ly/2CcnHjl
• Modelling, Simulation, and Control of a Quadcopter: bit.ly/2CeFI0H
• How to Design and Model a Quadcopter Prototype with Simulink and Arduino:
bit.ly/2CcnKvz
• Programming Drones with Simulink: bit.ly/2CdbFq7
You can also program drones and unmanned aerial vehicles (UAVs) using an autopilot such as PX4. You can interface and deploy MATLAB and Simulink model to PX4 using the PX4 Hardware Support Package in UAV Toolbox
• PX4 Hardware Support Package: bit.ly/PX4Autopilots
• Learn more about UAV Toolbox: bit.ly/UAV-Toolbox
Learn more about Aerospace Blockset: bit.ly/AerospaceBlockset
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22 окт 2018

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Комментарии : 52

@BrianBDouglas 5 лет назад

Hi everyone, thanks for watching! If you have any questions for me leave them on this comment so I get notified and can try to get back to you. Cheers!

@sphericalsphere 5 лет назад

Great video! I ask myself: At what point would you "interfere" with manual control inputs now while the drone is running? Like in a drone that you fly yourself, but once you let go of the sticks, it just hovers where you left it?

@BrianBDouglas 5 лет назад

sphericalsphere you could set up your hand-held remote controller to command altitude rate, yaw rate, and XY position. These would be converted in the software to the reference signals that the control loops use that I described in this video. When you’re “manually” flying your drone you’re telling it to go up or down, or to rotate, or to fly horizontally. The inner control loops are still running during this and keeping the drone stable and following your commands. As soon as you let go of the toggles the drone would immediately start to hover since you’re telling it to stay right where it is.

@shivamsingh5361 5 лет назад

hi brian i am having project to design a lidar enaled uav system for terrain mapping is it possible to use a lidar sensor in this also

@Ramix09 5 лет назад

Dude I follow your channel as well, I had no idea it was you in this series!

@Oussou255 5 лет назад

Great video Mr Brian, my question is how you can get the (x,y) coordinates without a GPS.

@lucasmouragomes 5 лет назад

I was watching your channel a few weeks ago and now I've found this! Your control theory insights are the best. Cheers!

@JamesUsevitch 5 лет назад

Wow. Stunningly simple and understandable explanation. Looking forward to the next video!

@niksforever 5 лет назад

Great Series Brian, I myself have gone through all these while creating our own drone controller. Especially, tuning the cascaded control was the most challenging of all. It is a highly sensitive system with lot of dependencies and coupled motions. There are not much resources out there who discuss this aspect of drone control. Thanks for taking this up and eagerly waiting for your next video to see your approach to tune this controller.

@fernando.liozzi.41878 5 лет назад

WOW!, great video and explanation. Waiting anxiously for the other videos. Many thanks.

@muhammadatif1696 5 лет назад

Great! waiting for the remaining lectures.

@renjithms6681 4 года назад

Very much informative ...Good work Brian.

@shubhamd6674 5 лет назад

Very nicely explained and the graphics is simple but very useful in understanding.

@asdflkj2041 3 года назад

this is an unbelievably great video!

@Kendric777 4 года назад

Thanks for making these videos, keep it going please.

@01bit 3 года назад

Good work! Thanks

@roubarizkallah2172 3 года назад

Great, great great video, thanks!!

@SLguitarGuy 3 года назад

what a great teacher !!

@lampfall7915 2 года назад

Wow amazing

@mulekyamasha8501 5 лет назад

Great videos now how can you do to fallow an object to have its position in distance and all time? and which components are you going to use??

@andgut4777 5 лет назад

I Brian nice video, Can you explain more the position controller

@mulekyamasha8501 5 лет назад

Great videos now how can you to fallozw the mouvement avec a cibl and which components are you going to use??

@LaggerSVK 4 года назад

Great video but I mean a rate controller is normally used commanded from attitude controller. Angular rates are measured directly and quite accurately. Therefore it is possible to command a rates into inner controller. The feedback would have better rejection for disturbance as inertia change etc.

@kaipn9763 5 лет назад

Awesome series, Brian. Can we expect the next video today?

@BrianBDouglas 5 лет назад

Not until Monday ... the delay is my fault. I have all of the videos completed for this series and ready to go but I want to release a companion video on my channel when drone #3 posts. My video won't be ready until Monday, hence the delay. Stay tuned though!

@kaipn9763 5 лет назад

@@BrianBDouglas Thanks for the quick response. Looking forward to it!

@Reglrtv 5 лет назад

@@BrianBDouglas Thank you for the feedback we all were waiting for. Looking forward to it.

@denisbraghetti7081 5 лет назад

What component do you use to build this system? Should it be operational amplifier ?

@ahmetfarukgumustas6836 4 года назад

Great..:)

@hafizuddinmohdlowhim8426 3 года назад

What should we do if roll will affect pitch and yaw and altitude at the same time?

@sandrosiagian6934 3 года назад

So the PID control parameters that are carried out for roll, pitch and hover movements can the parameters be the position of the drone?

@mehrannorouzi1309 3 года назад

in this video, if the roll, pitch and yaw angles were relative to the reference frame, then we don't need the yaw feedback to the outer loop controller, right?

@naturheilkunde-kanal9814 5 лет назад

Great video and explanation. I am wondering - wouldn't it be possible to use a neural network to figure it all out by itself? (of course this includes crashing the drone more or less often....)

@danielzhang3070 5 лет назад

Well, I am not sure whether I understand your question correctly, yes, NN will work for sure, however, a simple NN will not, for this kind of task I highly recommend using simple algorithm which requires less computational ability. And also, NN can be used to identify the quadcopter model more precisely than traditional models, which can make us control the drone more accurately.

@alanzom1503 3 года назад

If you have a model of the system, i.e., equations that predict the position and velocity of the quadcopter, given the input rotation speed of the rotors, you use reinforcement learning to train a neural network which will serve as the controller.

@jgabb005 Год назад

What do the transfer functions look like, and how are they used in this system?

@TnInventor 4 года назад

where can i find that flight controller block? in 13:03?

@vivekjebaraj 5 лет назад

hi Brian, is it possible to model the flight controller for other drones and Arduino self-made flight controllers?

@BrianBDouglas 5 лет назад

This series will cover the exact flight controller that ships with the Aerospace Blockset and is for the Parrot Mambo. However, the general concepts and ideas can be used for other drones as well.

@vivekjebaraj 5 лет назад

@@BrianBDouglas thank you very much, you explain everything clearly and it is easy to understand. Waiting for the next video very eagerly😀