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

SLIDE 1

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 ICRA 2010, Anchorage, Alaska – May 06, 2010

SLIDE 2

THE FLYING MACHINE ARENA

Angela Schöllig ‐ ETH Zürich FlyingMachineArena.org

SLIDE 3

OUR VEHICLES

Angela Schöllig ‐ ETH Zürich

SLIDE 4

We envision... A dance performance of multiple vehicles in the Flying Machine Arena First, ....

DANCING QUADROCOPTERS

Angela Schöllig ‐ ETH Zürich

GOAL

Synchronize the SIDE‐TO‐SIDE MOTION of a quadrocopter to music

Desired Side-To-Side Motion

SLIDE 5

MUSIC REFERENCE

Angela Schöllig ‐ ETH Zürich

PRE‐PROCESS MUSIC DEFINE REFERENCE SIGNAL

FOCUS Timing between music reference and quadrocopter

motion

SLIDE 6

VIDEO: https://youtu.be/Kx4DtXv_bPo?list=PLD6AAACCBFFE64AC5

Angela Schöllig ‐ ETH Zürich

SLIDE 7

THREE STEPS

Stabilize the vehicle and impose oscillating motion
Compare the phase
Correct for phase errors

CONTROL APPROACH: Overview

Angela Schöllig ‐ ETH Zürich

SLIDE 8

MODEL

HEIGHT STABILIZATION TRAJECTORY TRACKING

with

CONTROL APPROACH: Oscillating System

Angela Schöllig ‐ ETH Zürich

SLIDE 9

OBSERVATION

Angela Schöllig ‐ ETH Zürich

EXPERIMENTS

LINEAR SYSTEM BEHAVIOR

Constant phase error resulting from unmodelled dynamics. Deterministic.

SLIDE 10

OUTPUT

PHASE DETECTION PHASE CORRECTION

Shift reference signal

CONTROL APPROACH: Phase Correction

Angela Schöllig ‐ ETH Zürich with

SLIDE 11

CONTROL APPROACH: Results

Angela Schöllig ‐ ETH Zürich No Phase Correction With Phase Correction Phase Error

SLIDE 12

COMBINE FEEDBACK WITH FEEDFORWARD

Angela Schöllig ‐ ETH Zürich

Additional FEEDFORWARD term allows for dynamic changes in dancing motions.

SLIDE 13

VIDEO: https://youtu.be/NPvGxIBt3Hs?list=PLD6AAACCBFFE64AC5

O

Angela Schöllig ‐ ETH Zürich

SLIDE 14

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 ICRA 2010, Anchorage, Alaska – May 06, 2010