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P&S: Quad-Rotors: Control and Estimation
Last Updated: 2026-02-05 16:29:09
Abstract
The category of "Laboratory Courses, Projects, Seminars" includes courses and laboratories in various formats designed to impart practical knowledge and skills. Moreover, these classes encourage independent experimentation and design, allow for explorative learning and teach the methodology of project work.
Objective
The objective of this P&S is to make a real-world quad-rotor fly autonomously by applying the control and estimation theory taught in class. Details of this P&S course can be found at: https://www.dfall.ethz.ch/pands.php A video showing highlights from HS2018 can be seen here: https://www.youtube.com/watch?v=PEg-XHSXd58 A video showing how we adapted to the online setting for COVID-19 can be seen here: https://www.youtube.com/watch?v=nHcfb3OprB
Content
In the first half of the P&S, we will introduce the physical model for a quad-rotor and use this to apply the control and estimation techniques that are taught in the 5th semester in the Control Systems 1 (CS1) class. The students will then create their own control functions for a quad-rotor and test these in simulation. The second half of the course will involve the students implementing the control and estimation algorithms they design in the real-world on our fleet of nano-quad-rotors. Once stable flight is achieved, the students will have the freedom to perform tasks with the quad-rotor. By implementing the control and estimation algorithms on a real quad-rotor, the students will gain experience in how decisions in the modelling and design stage affect real-world performance. The simulations will be coded in MATLAB, and the real-world implementation in C++. Important Information: Students must be in the 5th semester. The first class will be on Wednesday, September 27 for all students. Classes will then occur every second week. The students will be split into two groups and the classes for each group will occur on alternating weeks. It is preferable to be taking the Control Systems 1 (CS1) course but not mandatory. Those students who are not taking CS1 will need to complete some extra reading to understand some aspects of this P&S.The simulations will be coded in MATLAB, and the real-world implementation in C++.
General Information
- Language
- English
- Levels
- BSC
- Frequency
- Semesterly recurring
Examination
- Type
- ungraded semester performance
Registration & Places
- Signup Start
- 13.09.2024
- Signup End
- 27.09.2024
Course Components
| Type | Title | Time & Place | Hours |
|---|---|---|---|
| practical/laboratory course |
P&S: Quad-Rotors: Control and Estimation
Für den Zugang zum Angebot und zur Einschreibung loggen Sie sich hier ein (mit Ihrem n.ETHZ account):
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To access the offer and to enroll for courses log in (with your n.ethz account):
Please note that the P&S-site is accessible no earlier than two weeks before the start of the semester until four weeks after the start of the semester. Enrollment is only possible from Friday before the start of the semester until noon of the first Friday in the semester.
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2 h weekly |
Offered In
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Laboratory Courses, Projects, Seminars (A minimum of 15 cp must be achieved in the category "Laboratory Courses, Projects, Seminars)
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Projects & Seminars (only for BSc EEIT) (Enrolment is only possible for students in the BSc Electrical Engineering and Information Technology, from Friday before the start of the semester. Places are allocated using the P&S application tool ( ). For more offers, see "Projects & Seminars (open to all)".)
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