Drones to Go: A Crash Course for Scientists and Makers

Description

https://www.apress.com/gp/book/9781484267875 Learn the five key skills needed to become a quadcopter developer: design, modeling, control, simulation, and implementation. This book provides a crash course on drone development for beginners and can also serve as a comprehensive reference for those who want a detailed guide for future projects.  You'll review key features often missed in other books: a deeper review of controls, step by step modeling, and methods for simulating and designing drones. Although the quadcopter is used as the main example throughout the book, you'll also see how to apply the development knowledge to other aircrafts or aerial systems.  Highly visual and easy to understand, this book features Simulink and Matlab tools, but the skills covered can be used in other environments such as Scilab or other programming languages. Drones To Go merges maker knowledge and technical information with scientific knowledge and design essentials. What You’ll Learn Review the  main families of control: geometric, linear, and common dynamic feedback control Understand the mathematics of a quadcopterFollow step-by-step instructions on modeling and control equations Focus on pedagogical development to answer any doubts in the design process Who This Book Is For Makers to scientists  Table of Contents About the Authors About the Technical Reviewer Acknowledgments Foreword Chapter 1: Drone Design Concepts Historical Context Etymologies and Names in Use What Kind of Drone Do You Need? Generic Safety Issues and International Standards Communications Electrical Safety Transport and Storage Safety of Use Buying and Selling Problems Regulations and Standardizations Recommendations Types of Drones Components Action Components Brushed and Brushless Motors ESCs and Power Stages Servos Propellers Structure Components Frame Vibration-Damping Mounts Mechanical Connector Measurement Components Miscellaneous Sensors GPS Command Components Autopilot Telemetry Modules RC Modules Companion Computer Power Components Battery/Tethered Supplies Battery Indicator Power Distributor Power Module Electrical Connector Component Selection Vehicle Selection Remote Control Selection Autopilot Selection Component Connection Mechanical Connection Electrical Connection Control Connection Summary Chapter 2: Modeling Frames of Modeling Translational Kinematics Rotational Kinematics Forces Acting on a Multicopter and Its Propellers Forces Acting on a Propeller Forces Acting on the Vehicle Translational Dynamics Rotational Dynamics Allocation Model Steps for Obtaining the Allocation Model The Allocation Model for a Quadcopter Linear Simplifications Summary Chapter 3: Control of Drones Useful Zero Concept Robot Mode Control Fully Linear Cartesian Control with No Yaw Variation Control of the Independent Dynamics Control of the Dependent Dynamics Linear Decoupling of the Controllers Remarks and Graphical Interpretations Fully Linear Cartesian Control with Yaw Variation Vehicle Mode Control Spherical Control (Rudders and Guide Vector) Introduction to Geometric Control for Drones (Thrusters and Guide Vector) Translational Control Rotational Control Dynamics Compensation and Additional Remarks Introduction to Lyapunov Stability Definition of Desired Values: Regulation, Trajectory, or Point-to-Point Summary Chapter 4: Simulation Types of Simulators State Space Representation Block Representation Simulation with Simulink and Interpreted MATLAB Functions Required Blocks Quadcopter Example, Text File Quadcopter Example, Block File Use of the Simulators Simulation Alternatives with the Simulink and MATLAB environment Blocks and Interpreted MATLAB Functions Only Blocks Blocks and S-Functions Text Mode with Predefined Commands Text Mode with Customized Commands Summary Chapter 5: Implementation Tasks of a Drone Loops and Kinds of Controllers for a Drone Control Loops Open and Closed Loops Inner and Outer Loops Dependent and Independent Loops Pose and Speed Loops Kinds of Controllers Model-Free and Non–Model-Free Controllers Robust and Adaptive Controllers Unrestricted and Bounded Controls Linear and Nonlinear Control Continuous Operation and Based on Events Continuous and Discrete Controllers Electrical and Mechanical Control Drone Signal Processing Signal Filtering Saturation Biasing and Mapping Data Casting Redundancies and Singularities Normalization Example of Use Data Transmission Theory Data Types and Subtypes UART Introduction UART Sending UART Receiving UART Checking Turn Agreement Generic UART Algorithm Available Ways to Program a Drone The GUI The SDK SDK Level 1 SDK Level 2 SDK Level 3 Some Useful Commands Available in Most SDKs Official Webpages Input Commands Output Commands Sensor Commands Actuator Commands Signal Processing Commands Communication Commands (Wired and Wireless) Time Commands Miscellaneous Commands Summary Appendix: Additional Resources Differential Flatness and Multicopters Sliding Modes and Multicopters Helicopters, Omnicopters, Airplanes, and More Other Rotational Representations for Drones A Brief on Linear Control About the Power Consumption and Maximum Flight Features of a Drone Guided References Chapter 1 Chapter 2 Chapter 3 Chapter 4 Chapter 5 Appendix References Differential Flatness and Multicopters Sliding Modes and Multicopters Helicopters, Omnicopters, Airplanes, and More Rotational Representations for Drones Linear Control Drone Power Consumption and Maximum Flight Features Index