Design and Control of Multirotor Aircraft¶
This book covers fundamental knowledge in multirotor aircraft design, dynamic modeling, state estimation, control, and decision-making. It integrates foundational concepts from diverse disciplines, including aerodynamics, electric motors, electrical circuits, structural materials, theoretical mechanics, as well as navigation, guidance, and control. Characterized by both fundamentality and systematicity, the book facilitates readers’ integration of previously acquired knowledge and emphasizes the development of comprehensive problem-solving skills. Spanning fifteen chapters, the book comprehensively addresses most aspects of multirotor aircraft design, including fundamentals, configuration, power systems, modeling, perception, control, and decision-making. It organizes design principles commonly applied in multirotor engineering practice while emphasizing the importance of core concepts, thereby exhibiting features of fundamentality, practicality, comprehensiveness, and systematicity. This book can serve as a textbook for senior undergraduate and graduate students, an introductory guide for researchers in the field, or a self-study reference for multirotor aircraft engineers. Additionally, it can function as supplementary reading for other unmanned aerial systems and unmanned systems in general.
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| Directory | Slides | Code |
|---|---|---|
| Lecture 01: Introduction | Readme | code |
| Lecture 02: Basic Components | Readme | code |
| Lecture 03: Frame Design | Readme | code |
| Lecture 04: Power System Modeling and Estimation | Readme | code |
| Lecture 05: Coordinate Systems and Attitude Representation | Readme | code |
| Lecture 06: Dynamic Modeling and Parameter Measurement | Readme | code |
| Lecture 07: Sensor Calibration and Measurement Modeling | Readme | code |
| Lecture 08: Observability and Kalman Filtering | Readme | code |
| Lecture 09: State Estimation | Readme | None |
| Lecture 10: Stability and Controllability | Readme | None |
| Lecture 11: Low-Level Flight Control | Readme | None |
| Lecture 12: Position Control Based on Semi-Autonomous Autopilot | Readme | None |
| Lecture 13: Mission Decision-Making | Readme | None |
| Lecture 14: Health Assessment and Failure Protection | Readme | None |
| Lecture 15: Outlook | Readme | None |