The course objective is to provide a comprehensive study of unmanned fixed-wing, rotorcraft, and multirotor vehicle modeling and controller design techniques. The course objective is to provide a comprehensive study of unmanned fixedwing, rotorcraft, and multirotor vehicle modeling and controller design techniques. Course modules include a review of kinematics, dynamics, equations of motion, parameter identification techniques, linear, linearized, and nonlinear controller design approaches, implementation, and testing – along with their advantages and limitations. A software-based platform for simulated experiments is introduced and used to compare performance of implemented techniques under nominal and detrimental conditions. Case studies include simulation and experimental results for several prototype UAVs. Consequently, a general framework for controller design of a class of nonlinear systems with unstructured, time-varying uncertainties (aerodynamic uncertainties) is proposed and implemented, and it is supported by obtained results. Prerequisites: Knowledge of feedback control systems is required. Knowledge of fundamentals of robotics is desirable, but not necessary. All required background information will be presented in class. Intended Audience: The course is suitable for graduate and doctoral students in the areas of Aeronautical, Electrical and Computer, Mechanical and Systems Engineering and Computer Science.

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Gest Lecture: Kimon Valavanis- University of Denver Course Summary:

In presenza

Presentazione orale

P.D.2-2 - Aprile

April 15 from 15 to 17.30 sala Maxwell April 16 from 9 to 11 DIMEAS sala terzo piano, from 15 to 17.30 sala C April 17 from 9 to 12, from 14 to 17 sala C April 18 from 9 to 12 sala C, from 14 to 17 sala Maxwell April 19 from 9 to 11 sala C