Drone Simulation and Control, Part 1: Setting Up the Control Problem

Quadcopters and other styles of drones or Unmanned aerial vehicles (UAVs) including quadcopter and other styles of drones are extremely popular, partly because they have sophisticated programmed control systems that allow them to be stable and fly autonomously with very little human intervention. Their four propellers are spun in precise ways to control the quadcopter in six different degrees of freedom. This is the first video in a series in which we walk through the process of designing a control system that will get a drone to hover at a fixed altitude.
• Simulink Hardware Support Package for PARROT Minidrone: bit.ly/2C99ynb
• Introduction to Simulink Hardware Support for PARROT Minidrones: bit.ly/2CapENk
This video describes the sensors that come with the Mambo, a parrot minidrone that interfaces with MATLAB® and Simulink®. Future videos will show how we can use these sensors to estimate system states like altitude and speed.
• Quadcopter Simulation and Control Made Easy: bit.ly/2CcnHjl
• Modelling, Simulation, and Control of a Quadcopter: bit.ly/2CeFI0H
This video also describes how the four propellers can be configured and spun in specific ways that allow the drone to independently roll, pitch, yaw, and thrust.
• How to Design and Model a Quadcopter Prototype with Simulink and Arduino:
bit.ly/2CcnKvz
With knowledge of the sensors, actuators, and the dynamics of the drone itself, we’ll be prepared to develop the control system over the rest of this series.
Related resources:
• Programming Drones with Simulink: bit.ly/2CdbFq7
• Quadcopter Modelling with Simulink: bit.ly/2CbdeVj
You can also program drones and unmanned aerial vehicles (UAVs) using an autopilot such as PX4. You can interface and deploy MATLAB and Simulink model to PX4 using the PX4 Hardware Support Package in UAV Toolbox
• PX4 Hardware Support Package: bit.ly/PX4Autopilots
• Learn more about UAV Toolbox: bit.ly/UAV-Toolbox
Learn more about Aerospace Blockset: bit.ly/AerospaceBlockset
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[@BrianBDouglas]

Hi everyone! I hope you enjoyed this video. If you have any questions or comments you'd like me to see, please leave them on this comment so that I get notified and can respond. Cheers!

[@shivamgaur530]

Hi Brian ! I want to know about how you make these video's. I want to know behind the camera work. PLZ REPLY ASAP

[@BrianBDouglas]

I draw everything in photoshop and record the whole process using a screen capture program called capto. I edit the video in Final Cut Pro where I speed it up, add the voiceover, and animate some of the images.

[@shivamgaur530]

@@BrianBDouglas Thanks and which Photoshop do you use? Are these software paid or not ? This way of making goes same with the videos which u make on control system on your main channel ??

[@BrianBDouglas]

I use Photoshop CC and this is the same process I use for making videos on my channel.

[@benallia8262]

thank you brian, when someone asks me "who taught you control engineering ?", i say "he's brian douglas", love you so much man!!

[@mauelcorsetti]

Brian you literally helped me pass my control modules at my university, nice to see you work with Mathworks!

[@YUVRAJMOT]

I have never seen any video which explains this concept with so much clarity. I can now have an intuitive idea of the dynamics of quadcopters. Thanks a lot for this. It would be helpful in one of my projects.

[@Chikimingo]

thank you very much! i’m a fan ever since I studied control system course in the university. mathworks clearly done a smart move by working with you, with their software and your explanation the new generation of engineers shell rise

[@suneelthondu9117]

This tells us how education was simple in understanding, Playing ,Learning. We can't feel pressure until your videos are ended Sir..Thank you so much

[@wiloberlies9598]

Nice job Brian, this is a very cool project/series; thank you for doing this!

[@Ganaton2]

This was best 14 minutes of my day. Thank you

[@gorilla543210]

very nice video explaining the detail about Drone configuration and control flow! really appreciate your hard work!

[@badejavuade6774]

Spot on! Best control video for quads I’ve watched. I am curious to how I can apply this to a hobby Zynq quadcopter I am building. Thanks for the animated explanation. I hope the workflow will be applicable to non parrot dev.

[@leadeeeeer]

I am one of your most dedicated fans!,,,Your name became like a brand for me :), thanks for the videos. please don't ever stop

[@beoptimistic5853]

kzbin.info/www/bejne/joGmmHqKbqefqLM👍👍👍👍💐

[@souryavarenya]

Thanks for making lives simpler!

[@stevenshackelford1937]

Drone hobbyist for 1 year. Best Explanation of mechanics so far! TY.

[@manishkumarmeena4891]

This series made me happy ... This videos have full information about pic controller 👌👌 Thank sir ...🔥🔥

[@The16varinder]

I wish I had a teacher like Brian. You won my respect, Sir!!

[@mnada72]

Love all your videos. Great video as usual.

[@haavepaja]

Cool, very cool. Thanks for the video!

[@abdelhakimamer6989]

Thank you so much brian for this great video

[@mehrannorouzi1309]

Brian you are the best!

[@mathurhp]

You are an amazing instructor. Thank you.

[@beoptimistic5853]

kzbin.info/www/bejne/joGmmHqKbqefqLM👍👍👍👍👍💐

[@abdullahcelik8644]

Thank you for clear explaining

[@miraculixxs]

Great video! As it happens I am currently taking a Udacity class on using deep learning neutral networks to control a QC. Specifically Deep Q Learning or Actor/Critic. I'm wondering what's your take on this?

[@muhammadatif1696]

Amazing!

[@vivekmittal2043]

This is GOLD!

[@emmanuelsheshi1553]

excellent tutorial sir

[@baiqiudi]

very good series videos！

[@MicEE2998e5]

very clear, thank you

[@wenyangjiang9858]

Thanks, it helps me a lot!

[@roubarizkallah2172]

Thank you so much!!! Your video made me understand core concepts I had to master to start a drone simulation project. In my python class we were given this project about drones with a source code licensed from the MIT when we never even took in class what a drone was or how to manipulate scipy and matplotlib modules/packages. I'm not sure what's the difference between modules, packages, libraries and subpackages, would be nice if someone could clarify to me that point, thanks! :)

[@user-py3vj4mf7r]

How Great it is!

[@andreadenichilo3916]

Please continue this serie is frikin awesome, when Will the second video be out?

[@BrianBDouglas]

Thanks! Working on the 5th video in the series now. They will post periodically over the next month or two.

[@andreadenichilo3916]

@@BrianBDouglas thank you so much Brian! Can you link us your channel?

[@BrianBDouglas]

There is a direct link at the end of the video. But you can find it here: kzbin.info

[@supremeleader5516]

amazing lecture

[@renatobritto4096]

11:19 supposing both motors are spinning in a clockwise direction, the spin direction of the drone itself is counter-clockwise

[@engineering3333]

Love this

[@mtk-0_0]

many thanks.

[@abdullahkadri3214]

Hi Brian, I am wondering where in the Quadcopter Flight Simulation Model I can find the nonlinear equations of the dynamic system?

[@omerbilgin5323]

keep going on this topic pls. Because we like learn on aircraft app.

[@ykr786]

Because of you, I am proud to be an Electrical Engineer

[@nehabarthwal7288]

I want to simulate Quadcopter in matlab .... Can u please help me

[@moniruzzamansohag440]

@Brian, can I use this drone to launch upon a PIR sensor signal?

[@martintrost815]

fortunately, or unfortunately, my tendency has changed to not watching any other person's videos ever since I became acquainted with your lectures:-) I only want to know how it is possible to have thorough and well organized playlists of your videos. For example, the series of "Drone Simulation and Control" is not present in your own channel and I ran into it when I was watching your sensor fusion videos! Thanks.

[@fernando.liozzi.41878]

Hello, I have several complete quadcopter carcasses, with the intention of making them fly with a TM4C123GH6PM (TIVA C from TI). I have made many applications using Simulink Code Generator for dsPIC, PIC18, Arduino and ARM. It will be possible that with this series of videos, I can finish my project of making my own quadrocopters fly?. I have made and do many control applications for the oil industry with systems embedded in microcontrollers. Thanks.

[@khushalpathakkp]

Can you please tell me the frequency of ultrasound used in this project?

[@mahmudistiaq]

Love you brian...

[@Travellerrrr]

Hi , a question at 12:45 you show the mixer values, I cant understand the roll sign. I would think that the roll sign for positive roll(from left to right) on the "Front Right Motor" should be negative , not positive if it will be positive as you wrote , there be more thrust on the right side and the drone will roll to the left(negative roll in Right Hand system)

[@ratuldas4153]

Hey, I had the same confusion. Let me know if you think this is correct M_fr = T+Y+P+R M_fl = T-Y-P+R M_br = T+Y-P-R M_bl = T-Y+P-R

[@nicholasfrasure6586]

What software do you think he uses for the blackboard he writes on?

[@91722854]

are there any cheaper alternatives to parrot drone to do control on?

[@fernando.liozzi.41878]

Now I'm doing code with stateflow. Are there series of videos explaining the use of state machines for control applications? Thank you.

[@arturevskiy]

Yes! Please see here: www.mathworks.com/videos/tech-talks/state-machines.html

[@yagi-udaetenac2701]

Hi bryan, just to ask how can i linearize my induction motor driving the pump so that i can get the transfer function of it for a control design. right now what i have is the mathematical model of the induction motor and confuse what to do next. please advise thanks

[@user-vi3pi9rf7w]

Sorry I can't answer your question, I just wanna be tagged in to know the answer :)

[@zrmsraggot]

3:14 Great idea

[@user-et3iu6dl8l]

Nice Thanks a lot

[@user-et3iu6dl8l]

What types of programming languages are used in drone control

[@yaraosama7573]

I want to know the ratios which every motor take to roll pitch and yaw

[@yakovhammer5739]

Is there a link for your channel Brian?

[@gabrielogungbure5785]

Hi Brian. I am working on a project using Matlab/Simulink aerospace blockset. i want to modify the example on Parrot mambo drone for implementation on the physical drone. please i need help urgently

[@jobaidulislam7506]

Could you please help me to establish UAVs mathematical modeling?

[@gowtham2775]

at 6:50 u said, it is an underactuated system(4 motors and 6 DOF) hence all directions cannot be controlled. But it's the same case with hexacopter(6 motors) and octacopter (8 motors). Little confused. Waiting for your reply. TIA :)

[@BrianBDouglas]

That's true, but only because the motors for a hexacopter and octacopter are aligned in the same axis. The point I was trying to make was that a quadcopter is necessarily underactuated because there are only 4 actuators, whereas, something with 6 or 8 actuators might not be. For example, imagine a hexacopter where each motor is on its own side of a square frame. This could then travel directly in all 6 DoF. Did that help?

[@gowtham2775]

@@BrianBDouglas So depending on the motor placement hexacopter could be under or to the mark. Makes sense, thank you :) btw I bought parrot mini-drone after finishing your lecture series. It's fun implementing... :)

[@nehabarthwal7288]

I want to simulate Quadcopter in matlab ..... please help me

[@kahinamedjdoub7094]

Hellow can you do a vidéo about birotor drone like an aircraft

[@shivamsingh5361]

what if i want too use lidar lite v3 type sensor in this with 9 dof

[@beoptimistic5853]

kzbin.info/www/bejne/joGmmHqKbqefqLM👍👍👍👍💐

[@nehabarthwal7288]

I want to simulate Quadcopter in matlab .... Please help me

[@lennonwang2950]

What is “tree grade vehicles”？what does it mean？

[@cninehollyclips6107]

Hi sir

[@aaryabadhe4812]

May I know at what stage of education are we taught this?

[@fauzan9359]

10:43 for aerial

[@syariefmirdasy6253]

Kurang ajar

[@ailadeanattaharwi8491]

Is there a python version for this

[@Gameplay-os3tg]

Supar

[@sethdarkwa2321]

my camera is not rotating any help pls

[@nehabarthwal7288]

I want to simulate Quadcopter in matlab .... please help me

[@AvantGrade]

0:41 drones are expensive and illegal. Egypt 😂

[@richomeilanaputra2151]

Give me indonesian subtitles

[@faisalbahri5359]

mana bahasa indo nya tai