06. Simple Control Diagrams

C3 L2 L4 Control Diagrams V1

The control diagram is pretty general. The table below should help you understand what it means in the context of a 1D drone. Note that in this lesson we are assuming we have perfect sensors, so the measured output is the same as the true output.

Control Diagram Monorotor
Reference z_{\text{target}} (target position)
Output z (true position)
Input u_1 (commanded thrust)

We define error as e = z_{\text{target}} - z. When e > 0, what do we want the drone to do in order to compensate for that error? Don't forget that the z axis points downwards!
SOLUTION: Go down (increase z)

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