Synchronizing the Motion of a Quadrocopter to Music Angela Schllig, - PowerPoint PPT Presentation

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Synchronizing the Motion of a Quadrocopter to Music Angela Schllig, Federico Augugliaro, Sergei Lupashin, and Raffaello DAndrea Institute for Dynamic Systems and Control ETH Zrich, Switzerland 1 ICRA 2010, Anchorage, Alaska May 06, 2010

Synchronizing the Motion of a Quadrocopter to Music Angela Schöllig, Federico Augugliaro, Sergei Lupashin, and Raffaello D‘Andrea Institute for Dynamic Systems and Control ETH Zürich, Switzerland 1 ICRA 2010, Anchorage, Alaska – May 06, 2010
THE FLYING MACHINE ARENA FlyingMachineArena.org Angela Schöllig ‐ ETH Zürich 2
OUR VEHICLES Angela Schöllig ‐ ETH Zürich 3
DANCING QUADROCOPTERS We envision... A dance performance of multiple vehicles in the Flying Machine Arena First, .... Desired Side-To-Side Motion GOAL Synchronize the SIDE ‐ TO ‐ SIDE MOTION of a quadrocopter to music Angela Schöllig ‐ ETH Zürich 4
MUSIC REFERENCE PRE ‐ PROCESS MUSIC DEFINE REFERENCE SIGNAL FOCUS Timing between music reference and quadrocopter motion Angela Schöllig ‐ ETH Zürich 5
VIDEO: https://youtu.be/Kx4DtXv_bPo?list=PLD6AAACCBFFE64AC5 Angela Schöllig ‐ ETH Zürich 6
CONTROL APPROACH: Overview THREE STEPS • Stabilize the vehicle and impose oscillating motion • Compare the phase • Correct for phase errors Angela Schöllig ‐ ETH Zürich 7
CONTROL APPROACH: Oscillating System MODEL HEIGHT STABILIZATION TRAJECTORY TRACKING with Angela Schöllig ‐ ETH Zürich 8
OBSERVATION EXPERIMENTS LINEAR SYSTEM BEHAVIOR Constant phase error resulting from unmodelled dynamics. Deterministic. Angela Schöllig ‐ ETH Zürich 9
CONTROL APPROACH: Phase Correction OUTPUT PHASE DETECTION PHASE CORRECTION Shift reference signal with Angela Schöllig ‐ ETH Zürich 10
CONTROL APPROACH: Results No Phase Correction With Phase Correction Phase Error Angela Schöllig ‐ ETH Zürich 11
COMBINE FEEDBACK WITH FEEDFORWARD Additional FEEDFORWARD term allows for dynamic changes in dancing motions. Angela Schöllig ‐ ETH Zürich 12
VIDEO: https://youtu.be/NPvGxIBt3Hs?list=PLD6AAACCBFFE64AC5 O Angela Schöllig ‐ ETH Zürich 13
Synchronizing the Motion of a Quadrocopter to Music Angela Schöllig, Federico Augugliaro, Sergei Lupashin, and Raffaello D‘Andrea Institute for Dynamic Systems and Control ETH Zürich, Switzerland 14 ICRA 2010, Anchorage, Alaska – May 06, 2010

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