From 150025bf9fb9de4dd9d0ac2251df7b8d5fbf15d4 Mon Sep 17 00:00:00 2001 From: Sravan Balaji Date: Sat, 11 Apr 2020 09:45:44 -0400 Subject: [PATCH] GitHub Pages Setup - Update README with link to project website - Add proposal pdf to docs folder - Add whitespace to PlantModel.m - Add home.md as homepage of website --- README.md | 8 +- docs/1. ME 561 Project Proposal.pdf | Bin 0 -> 145332 bytes docs/home.md | 25 +++++ PlantModel.m => src/PlantModel.m | 103 ++++++++++----------- PlantModelSim.slx => src/PlantModelSim.slx | Bin 5 files changed, 83 insertions(+), 53 deletions(-) create mode 100644 docs/1. ME 561 Project Proposal.pdf create mode 100644 docs/home.md rename PlantModel.m => src/PlantModel.m (67%) rename PlantModelSim.slx => src/PlantModelSim.slx (100%) diff --git a/README.md b/README.md index 657a2dd..0603f15 100644 --- a/README.md +++ b/README.md @@ -1,3 +1,9 @@ # Quadcopter Control -ME/EECS 561 W20 Quadcopter control source code repository. \ No newline at end of file +UMICH EECS / MECHENG 561: Design of Digital Control Systems WN 2020 + +Full State Feedback and Control of a Quadcopter Drone + +## Documentation + +Please see the project [website](https://me-561-w20-quadcopter-project.github.io/Quadcopter-Control/home) for documentation. \ No newline at end of file diff --git a/docs/1. ME 561 Project Proposal.pdf b/docs/1. 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zSQfNA^012*B_*s*$Uo)3>YbzkehRl?7qvFwig zIc&`fMTzD@_YCG&1Mu$z)Ahh z32GB{h&n|mqL2Mz&51R{PIqv+qjRkUFv)Z407ezdY}$+pkDH1d0fcN_nZb|r@+hB_ z$v8ufyd$+C+t)~(qy_gg3QCq{;noTX9-h|+YrQJM?vWMs+63zIXCx6Ms~HSC-Z68MBw7H3C(gLOZnQLot{SgUbG4;4A3+_YwGoR+||(IR3fs2LB6E z@>iZFG}P_!3xZeja`*S}^aDs-SqqKgBamLc05p7mWj<3hhK|PG(O)!>Z|D-@06=f- zHIxBxhyzH>QPd7$=Lm9;u(JnAfu*Iuj?&_GBGMoP!X9J?{m&9t$orr9p%8W$m^`XH z={+RcBqVWhfTT;d`|tNK9u`FOpW7roz{G(0V+UUW@qf=p1^Blg^yO`RkwLx=jzpp$ zNg{4;6 + +## Table of Contents +- [Contributors](#contributors) +- [Documents](#documents) + +## Contributors + +### Project Team + +- Sravan Balaji ([balajsra@umich.edu](mailto:balajsra@umich.edu)) +- Aditya Iyer ([adiyer@umich.edu](mailto:adiyer@umich.edu)) +- Lakshmanan Periakaruppan ([lperiaka@umich.edu](mailto:lperiaka@umich.edu)) +- Naman Shah ([namanvs@umich.edu](mailto:namanvs@umich.edu)) +- Sumedh Vaishampayan ([sumi@umich.edu](mailto:sumi@umich.edu)) + +### EECS / MECHENG 561 W20 Course Staff + +- Ram Vasudevan ([ramv@umich.edu](mailto:ramv@umich.edu)) +- Sid Dey ([siddey@umich.edu](mailto:siddey@umich.edu)) + +## Documents + +1. [Project Proposal](1.%20ME%20561%20Project%20Proposal.pdf) +2. [Final Report (Overleaf)](https://www.overleaf.com/read/kyjvdsxkfnmg) diff --git a/PlantModel.m b/src/PlantModel.m similarity index 67% rename from PlantModel.m rename to src/PlantModel.m index cdf842f..09e7c6c 100644 --- a/PlantModel.m +++ b/src/PlantModel.m @@ -1,52 +1,51 @@ -%Parameters source: https://sal.aalto.fi/publications/pdf-files/eluu11_public.pdf -g=9.81; -m = .468; -Ix = 4.856*10^-3; -Iy = 4.856*10^-3; -Iz = 8.801*10^-3; - -%State Space Source: https://arxiv.org/ftp/arxiv/papers/1908/1908.07401.pdf -%X' = Ax+Bu -%y = Cx+Du - -%Inputs: -%U1: Total Upward Force on the quad rotor along z-axis -%U2: Pitch Torque (about x-axis) -%U3: Roll Torque (about y-axis) -%U4: Yaw Torque (about z-axis) -A = [0 0 0 1 0 0 0 0 0 0 0 0;... - 0 0 0 0 1 0 0 0 0 0 0 0;... - 0 0 0 0 0 1 0 0 0 0 0 0;... - 0 0 0 0 0 0 0 -g 0 0 0 0;... - 0 0 0 0 0 0 g 0 0 0 0 0;... - 0 0 0 0 0 0 0 0 0 0 0 0;... - 0 0 0 0 0 0 0 0 0 1 0 0;... - 0 0 0 0 0 0 0 0 0 0 1 0;... - 0 0 0 0 0 0 0 0 0 0 0 1;... - 0 0 0 0 0 0 0 0 0 0 0 0;... - 0 0 0 0 0 0 0 0 0 0 0 0;... - 0 0 0 0 0 0 0 0 0 0 0 0]; - -%Note: In paper, 1/m is in wrong spot -B = [0 0 0 0;... - 0 0 0 0;... - 0 0 0 0;... - 0 0 0 0;... - 0 0 0 0;... - 1/m 0 0 0;... - 0 0 0 0;... - 0 0 0 0;... - 0 0 0 0;... - 0 1/Ix 0 0;... - 0 0 1/Iy 0;... - 0 0 0 1/Iz]; -C = [1 0 0 0 0 0 0 0 0 0 0 0;... - 0 1 0 0 0 0 0 0 0 0 0 0;... - 0 0 1 0 0 0 0 0 0 0 0 0;... - 0 0 0 0 0 0 1 0 0 0 0 0;... - 0 0 0 0 0 0 0 1 0 0 0 0;... - 0 0 0 0 0 0 0 0 1 0 0 0] -D = zeros(6,4) - - - +% Parameters source: https://sal.aalto.fi/publications/pdf-files/eluu11_public.pdf +g=9.81; +m = .468; +Ix = 4.856*10^-3; +Iy = 4.856*10^-3; +Iz = 8.801*10^-3; + +% State Space Source: https://arxiv.org/ftp/arxiv/papers/1908/1908.07401.pdf +% X' = Ax+Bu +% y = Cx+Du + +% Inputs: +% U1: Total Upward Force on the quad rotor along z-axis +% U2: Pitch Torque (about x-axis) +% U3: Roll Torque (about y-axis) +% U4: Yaw Torque (about z-axis) +A = [0 0 0 1 0 0 0 0 0 0 0 0;... + 0 0 0 0 1 0 0 0 0 0 0 0;... + 0 0 0 0 0 1 0 0 0 0 0 0;... + 0 0 0 0 0 0 0 -g 0 0 0 0;... + 0 0 0 0 0 0 g 0 0 0 0 0;... + 0 0 0 0 0 0 0 0 0 0 0 0;... + 0 0 0 0 0 0 0 0 0 1 0 0;... + 0 0 0 0 0 0 0 0 0 0 1 0;... + 0 0 0 0 0 0 0 0 0 0 0 1;... + 0 0 0 0 0 0 0 0 0 0 0 0;... + 0 0 0 0 0 0 0 0 0 0 0 0;... + 0 0 0 0 0 0 0 0 0 0 0 0]; + +% Note: In paper, 1/m is in wrong spot +B = [0 0 0 0;... + 0 0 0 0;... + 0 0 0 0;... + 0 0 0 0;... + 0 0 0 0;... + 1/m 0 0 0;... + 0 0 0 0;... + 0 0 0 0;... + 0 0 0 0;... + 0 1/Ix 0 0;... + 0 0 1/Iy 0;... + 0 0 0 1/Iz]; + +C = [1 0 0 0 0 0 0 0 0 0 0 0;... + 0 1 0 0 0 0 0 0 0 0 0 0;... + 0 0 1 0 0 0 0 0 0 0 0 0;... + 0 0 0 0 0 0 1 0 0 0 0 0;... + 0 0 0 0 0 0 0 1 0 0 0 0;... + 0 0 0 0 0 0 0 0 1 0 0 0]; + +D = zeros(6,4); diff --git a/PlantModelSim.slx b/src/PlantModelSim.slx similarity index 100% rename from PlantModelSim.slx rename to src/PlantModelSim.slx