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24774 Advanced Control Systems Integration
24774 Advanced Control Systems Integration
At CMU, I took 24774 Advanced Control Systems Integration, and learned deeper on the PID and LQR control and other control topics such as MPC control, Iterative Learning Control, embedded control, RTOS, Dynamic programming and Fuzzy logic control with devices including MATLAB, Simulink, Arduino, rotary servo, pendulum and drones. In the final project, we worked on the simulated motor failure and impact recoverability for a quadrocopter drone Crazyflie. We modified and improved the built-in cascaded PID controllers in the drone and tuned the LQR gains. Finally, the drone performed well and landed safely in the situation of one motor shutting down in mid-air with either PID or LQR controller. Also the drone resisted the strong wind striking the usual motion and recovered back to its original position.
Simulated Motor Failure Problem
Simulated Motor Failure Problem
Wind Disturbance Impact Recovery Problem
Wind Disturbance Impact Recovery Problem
System Modeling for Parameters Setup
System Modeling for Parameters Setup
Main System Modeling
Main System Modeling
Built-in Cascaded PID Controllers
Built-in Cascaded PID Controllers
Control Signal Conversions: From State Errors to PWM
Control Signal Conversions: From State Errors to PWM
PID vs LQR Motor Loss Comparison of Quadrocopter Drone Crazyflie
PID vs LQR Motor Loss Comparison of Quadrocopter Drone Crazyflie
Wind Disturbance Recovery of Quadrocopter Drone Crazyflie
Wind Disturbance Recovery of Quadrocopter Drone Crazyflie
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