1. Building a Drone for Advanced Model-Based Control - Introduction
#drone #uav #machinelearning #robotics #electricalengineering #mechanicalengineering #aerospace #aerospacemanufacturing #mpc #controltheory #kalmanfilter #esc #battery #motors #stm32 #arduino #teensy #microcontroller #mechatronics #reinforcementlearning
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Hello everyone, And welcome to my diary and tutorials dedicated to building a drone (better to say, a quadrotor) and developing advanced control systems and algorithms for drones and UAVs from scratch. The goal of this tutorial series is to document all the steps and my thoughts during the process of building the autonomous drone. I am not going to rely upon well-established flight controllers such as Pixhawk. Instead, I will use either Teensy or STM32 microcontrollers to implement the control and estimation algorithms from scratch. The goal is to teach people how to implement advanced control and estimation algorithms, such as Kalman filters, nonlinear controllers, PID controllers, model predictive controllers, etc. At this point, I do not know which components, motors, and devices will work best together, and the purpose of this series is to document my trials and errors and to explain and teach students the complete testing and developing process. It is very easy to build a drone according to the schematics that someone gives you. However, it is more difficult to build a drone from scratch by not knowing in advance the complete design. Engineering is about developing new technologies and products and testing different options, and choosing the most optimal option that makes a trade-off between the costs and the functionality.
In this part of the series, we will deal with the problem of developing the quadrotor frame, and we will briefly explain all the parts that are necessary for powering and controlling the motors. I still do not know will these parts work with each other, and I will perform tests in my future videos.
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