227-0085-21L Projekte & Seminare: Quad-Rotors: Control and Estimation
| Semester | Frühjahrssemester 2022 |
| Dozierende | J. Lygeros |
| Periodizität | jedes Semester wiederkehrende Veranstaltung |
| Lehrsprache | Englisch |
| Kommentar | Nur für Elektrotechnik und Informationstechnologie BSc. Die Lerneinheit kann nur einmal belegt werden. Eine wiederholte Belegung in einem späteren Semester ist nicht anrechenbar. |
| Kurzbeschreibung | Der Bereich Praktika, Projekte, Seminare umfasst Lehrveranstaltungen in unterschiedlichen Formaten zum Erwerb von praktischen Kenntnissen und Fertigkeiten. Ausserdem soll selbstständiges Experimentieren und Gestalten gefördert, exploratives Lernen ermöglicht und die Methodik von Projektarbeiten vermittelt werden. | |||||||||||||||||||||
| Lernziel | In the first half of the P&S, we will introduce the physical model for a quad-rotor and use this to apply the control and estimation techniques that are taught in the 5th semester in the Control Systems 1 (CS1) class. The students will then create their own control functions for a quad-rotor and test these in simulation. The second half of the course will involve the students implementing the control and estimation algorithms they design in the real-world on our fleet of nano-quad-rotors. Once stable flight is achieved, the students will have the freedom to perform tasks with the quad-rotor. By implementing the control and estimation algorithms on a real quad-rotor, the students will gain experience in how decisions in the modelling and design stage affect real-world performance. The simulations will be coded in MATLAB, and the real-world implementation in C++. Important Information: Students must be in the 6th semester. The first class will be on Wednesday, March 2 for all students. Classes will then occur every second week. The students will be split into two groups and the classes for each group will occur on alternating weeks. It is preferable to have taken the Control Systems 1 (CS1) course but not mandatory. Those students who did not take CS1 will need to complete some extra reading to understand some aspects of this P&S. In case COVID-19 prevents in-person teaching, the course will be offered in an online setting with classes being held over Zoom. In this case, the students will be able to take a real-world quad-rotor to their homes in order to implement the control and estimation algorithms taught in the course. | |||||||||||||||||||||
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