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			General Info   Overview Visitor Info People Research   Publications Education   Courses GA/SA/MA News   News Seminars		227-0085-30L P&S: Control and Estimation for N-rotor Vehicles Professor(en): J. Lygeros Betreuer: P. Beuchat Vorlesung: Link zum Kurskatalog Spring 2018 Webseite: http://www.distfly.ethz.ch/pands.php Ziele: Implement PID and LQR techniques taught in Control Systems I for achieving stable hover of a quad-rotor vehicle. Vorlesungslevel: D-ITET Bachelor - 6th Semester Voraussetzungen: Control Systems (Regelsysteme I) Inhalt: Quad-rotors are becoming more and more commonplace as technological advancements increase capabilities and reduce costs. Quad-rotor vehicles are encountered both for domestic entertainment and industrial applications, some examples are: toys for people of all ages, professional cinematography, or, inspection of industrial scale structures and processes. One reason why quad-rotors have become so pervasive is their mechanical simplicity, which lends itself to the high operational reliability. Moreover, the control and estimation techniques required to stabilise a quad-rotor around hover require only the control theory taught to under-graduates, while acrobatic feats and fleet manoeuvres inspire many directions in current research. In this course we will cover the modelling of a general N-rotor vehicle, design of a PID and LQR controller, simulation development needed for pre-flight validation, and real-world implementation of the designed controller on our fleet of nano-quad-rotor vehicles. http://www.distfly.ethz.ch/pands.php Dokumentation: Can be obtained from the website of the course.