Guia docente 2020_21
Escola de Enxeñaría Aeronáutica e do Espazo
Máster Universitario en Operacións e Enxeñería de Sistemas Aéreos non Tripulados
 Subjects
  Sistemas de control
   Contents
Topic Sub-topic
Introduction to unmanned aerial vehicles. Multi-rotors.
Key components of autonomous flight. Estimation of states.
Basic mechanics
Design considerations
Agility and maneuverability
Selection of components.
Geometry and mechanics. Transformations
Rotations
Angles of Euler.
Quaternions
Angular velocity.
Newton-Euler equations.
Main axes and main moments of inertia.
Equations of movement of a multi-rotor.
Linearization
Control and navigation. PID control.
1D, 2D and 3D control of multirotor.
Paths.
Euler-Lagrange equations.
Splines.
Control of multiple systems.
Sense & avoid devices.
Fundamentals of embedded systems in real time.
Open hardware controllers.
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