227-0085-21L P&S: Quad-Rotors: Control and Estimation
| Semester | Autumn Semester 2023 |
| Lecturers | J. Lygeros |
| Periodicity | every semester recurring course |
| Language of instruction | English |
| Comment | The course unit can only be taken once. Repeated enrollment in a later semester is not creditable. |
Courses
| Number | Title | Hours | Lecturers | |||||||||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
| 227-0085-21 P | P&S: Quad-Rotors: Control and Estimation
 Für den Zugang zum Angebot und zur Einschreibung loggen Sie sich hier ein (mit Ihrem n.ETHZ account): https://psapp.ee.ethz.ch/ Bitte beachten Sie, dass die Seite jeweils erst zwei Wochen vor Semesterbeginn zugänglich ist und im Verlauf des Semesters wieder abgeschaltet wird. Die Einschreibung ist nur von Freitag vor Semesterbeginn bis zum ersten Freitagmittag im Semester möglich. To access the offer and to enroll for courses log in (with your n.ethz account): https://psapp.ee.ethz.ch/ Please note that the P&S-site is accessible no earlier than two weeks before the start of the semester until four weeks after the start of the semester. Enrollment is only possible from Friday before the start of the semester until noon of the first Friday in the semester. | 2 hrs |
| J. Lygeros |
Catalogue data
| Abstract | The category of "Laboratory Courses, Projects, Seminars" includes courses and laboratories in various formats designed to impart practical knowledge and skills. Moreover, these classes encourage independent experimentation and design, allow for explorative learning and teach the methodology of project work. | |||||||||||||||
| Learning objective | The objective of this P&S is to make a real-world quad-rotor fly autonomously by applying the control and estimation theory taught in class. Details of this P&S course can be found at: https://www.dfall.ethz.ch/pands.php A video showing highlights from HS2018 can be seen here: https://www.youtube.com/watch?v=PEg-XHSXd58 A video showing how we adapted to the online setting for COVID-19 can be seen here: https://www.youtube.com/watch?v=nHcfb3OprB | |||||||||||||||
| Content | 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 5th semester. The first class will be on Wednesday, September 27 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 be taking the Control Systems 1 (CS1) course but not mandatory. Those students who are not taking CS1 will need to complete some extra reading to understand some aspects of this P&S.The simulations will be coded in MATLAB, and the real-world implementation in C++. | |||||||||||||||
Competencies |
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Performance assessment
| Performance assessment information (valid until the course unit is held again) | |
Performance assessment as a semester course | |
| ECTS credits | 2 credits |
| Examiners | J. Lygeros |
| Type | ungraded semester performance |
| Language of examination | English |
| Repetition | Repetition only possible after re-enrolling for the course unit. |
Learning materials
| No public learning materials available. | |
| Only public learning materials are listed. |
Groups
| No information on groups available. |
Restrictions
| General |  : Special students and auditors need a special permission from the lecturers |
| Places | Limited number of places. Special selection procedure. |
| Beginning of registration period | Registration possible from 15.09.2023 |
| Priority | Registration for the course unit is only possible for the primary target group |
| Primary target group | Electrical Engin. + Information Technology BSc (228000) |
| Waiting list | until 06.10.2023 |
| End of registration period | Registration only possible until 29.09.2023 |
Offered in
| Programme | Section | Type | |
|---|---|---|---|
| Electrical Engineering and Information Technology Bachelor | Projects & Seminars | W | |