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1. Control systems in Drones and Robotics

2. Agenda
Introduction
Types of control system
Feed back mechanisms
Sensors
Actuators
Control methods
Stability

3. An interconnection of the system and a controller is called a control
system.
A system that manages, commands, regulates the behavior of devices or
processes.
Examples:
AC, Refrigerator Temperature Control, Elevator System, Smartphone
Brightness Adjustment, washing machines etc.,
CONTROLSYSTEM

4. System block diagram
System

5. Control
System
Open
Loop
Closed
Loop
Control System

6. Open Loop Control System
• Simple and easy to design
• Stable
• No feedback mechanism
• Less Accurate

7. Closed Loop Control System
• Reliable and high accuracy
• Self Regulating
• Feedback Mechanism
• More Flexible and Adaptability
• Complex design

8. Control System in Drones & Robotics
Classification Types:
• Linear vs. Nonlinear Control
• Adaptive Control: Adjusts based on changing
environments
• Robust Control: Maintains performance despite
disturbances
Drones: Stability and navigation
Robotics: Precision and task-specific
control

9. Feedback
Mechanism
Purpose of Feedback:
Allows systems to self-correct and maintain stability
Robotic Arm:
Feedback adjusts position based on target location
Drone:
Feedback stabilizes flight based on altitude, position,
and speed sensors

10. Sensors in
Drones
and
Robotics
Types of Sensors:
Gyroscope: Measures rotation
Accelerometer: Detects acceleration
GPS: Provides position data
LIDAR: Scans surroundings
Role in Control Systems:
Collects data for real-time adjustments

11. Actuators and Their Role
What are Actuators?
Devices like motors, servos, and rotors that translate control signals into
actions
Examples:
Motor rotors adjust speed for stability
Motors in joints allow precise movement

12. Motors in
drones
• Brushed DC motor
• Brushless DC motor(BLDC)

13. Comparison
Feature BLDC Motor Dc Motor
Rotor Permanent magnets.
Windings connected via a
commutator.
Stator
Fixed windings (electromagnetic
coils).
Permanent magnets or fixed
windings.
Power Supply
DC supply (with electronic
control).
DC supply (directly connected).
Commutation Method
Electronic commutation using a
controller.
Mechanical commutation using
brushes and commutator.
Control
Requires Electronic Speed
Controllers
Speed Varies with Applied Voltage
Brushes No Brushes Needs brush for commutation
Cost Higher Initial Cost Lower Cost
Power Efficiency Much higher Low

14. Why BLDC
Motors?
Efficiency and Endurance
High Power to Weight Ratio
Durability and Reliability
Low Maintenance
Better Control
Noise Reduction

15. MOTOR
DESIGN
• Motor Thrust
thrust per motor = MTOW
(Maximum Take-off
Weight)/number of motors.
Take an octocopter as an
example. supposing the
MTOW is 20 kg. Then the
thrust required for each
motor would be 2.5 kg (20
kg/8).

16. ESC(Electronic
Speed Controllers)
• Microcontrollers
• Switches
• Voltage Regulator
• Capacitors
• Firmware

17. Control Methods
1.Classical Methods
2. AI Based Control Strategies

18. Classical
Method
PID Control:
Proportional-Integral-Derivative
control is widely used for stability and
error minimization.
LQR (Linear Quadratic Regulator):
Optimizes performance by balancing
control effort and stability.

19. PID
Control
–
Basics
• To control and maintain any process
• Controller uses to evaluate control
variable
Key Terms:
 Measured Process variable
 Preferred Set Variable
 Error

20. Response
Curve

21. Designing PID
• Designing a PID system involves two steps.
• First, the engineer must choose the structure of
the PID controller, for example P only, P and I,
or all three terms P, I, and D.
• Second, to tune the controller, the engineer
must choose numerical values for the PID
parameters.
• In simple terms, P depends on the current error,
I depends on the sum of past errors, and D
predicts future errors based on the current rate
of change of errors.

22. Proportional Controller
• The proportional element of PID examines the magnitude
of the error, and the PID control reacts proportionally
• The following figure illustrates a proportional control and
shows that there is always a steady state error in
proportional control. The error will decrease with
increasing proportional gain, but the tendency toward
oscillation will also increase.

23. Integral control
• To address the issue with the
proportional control, integral control
attempts to correct a small error
(offset)

24. Derivative
Control
• The derivative part of the
control output attempts to
look at the rate of change
in the error signal

25. PID
Controller
Selection

26. Stability
The ability of the system to
maintain control of its output,
even when faced with external
disturbances or variations in
parameters

27. Drones – Stability
• Its ability to maintain its current
state of motion or rest despite
small disturbances.
• Static Stability
• Dynamic Stability

28. Robotics -
Stability
• The ability of a robot to maintain
its balance and control while
moving or performing tasks
1. Static Stability
2. Dynamic Stability

29. Artificial Intelligence-Based Control
AI Techniques:
• Machine Learning (ML): Learns from data for improved control in path
planning and dynamic decision-making.
• Applications: Autonomous navigation for drones and robots.
• Fuzzy Logic Control: Handles uncertainty by using fuzzy rules to make
decisions.
• Applications: Smoother path-following and obstacle avoidance.

30. Thank You
Link for the Quiz