Lets say for example that I need to control the z axis position of a single rotor uav. I knw that setting different throtle commands will vary the engines rpm ans thus change the altitude as well as creating a body torque in the oposite (of the motor rotation) direction. Considering that I can control yaw with cannards (like a rocket tail). In this scenario what is the main way of decoupling the dynamics?
Hi Theodosios Koutsoukos
I don't understand your problem. Can you show the governing equation and explain for there? I'm just guessing that you want to design F.
m·z" = f(z, z', ψ, ψ') + F
I·ψ'' = g(z, z', ψ, ψ') + T
Dear Theodosios Koutsoukos,
I suggest you to see links and attached files on topic.
http://oa.upm.es/38301/1/FRANCISCO_DE_BORJA_IBARRONDO_HERNANDEZ.pdf
https://etd.lib.metu.edu.tr/upload/12606533/index.pdf
https://sites.wff.nasa.gov/code810/files/SRHB.pdf
https://www.aero.iitb.ac.in/~paranjape/Notes/MECH532.pdf
Best regards
Hello Theodosios Koutsoukos, in a real-world application, we can't think about decoupling the dynamics. One can implement the idea of an inner loop controller (such as PID) and outer loop controllers (such as RL, NN, etc) to tackle the coupling issue. RL, Deep NN-based controllers, or any other data-driven controller have no dependency on the underlying dynamics of the plant. Such controllers can be helpful.
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