1 00:00:00,590 --> 00:00:11,930 ‫Now, so far, you have seen that the controller gets all the six reference values in one full batch. 2 00:00:13,060 --> 00:00:16,210 ‫However, that is not how it works in this case. 3 00:00:17,350 --> 00:00:26,800 ‫You see, even though we have 12 states, six in the inertia frame and six in the body frame on a broad 4 00:00:26,800 --> 00:00:32,560 ‫scale, we can describe the UVs motion in terms of position. 5 00:00:33,610 --> 00:00:38,590 ‫And in terms of orientation separately. 6 00:00:39,780 --> 00:00:48,780 ‫In the inertia frame, the states, X, Y and Z are used for position. 7 00:00:50,130 --> 00:00:56,820 ‫And then the states, Fi, Seeta and Passi are used for orientation. 8 00:00:57,990 --> 00:01:06,930 ‫When we talk about position, then we are concerned with where the center of mass of the drone is, 9 00:01:08,070 --> 00:01:16,530 ‫it's X, Y and Z coordinates the X, Y, Z coordinates of the center of mass of the wave. 10 00:01:17,490 --> 00:01:19,890 ‫We don't care how the drone is oriented. 11 00:01:20,800 --> 00:01:28,990 ‫However, when we talk about the orientation of the drone, then we don't care about where the other 12 00:01:29,090 --> 00:01:34,710 ‫center of mass is located in terms of its X, Y and Z coordinates. 13 00:01:35,770 --> 00:01:41,070 ‫Instead, we care about its Fifita and BPCI angles. 14 00:01:42,090 --> 00:01:44,040 ‫And the convention used, of course. 15 00:01:44,970 --> 00:01:53,400 ‫And so the reason why you have two controllers is because one controller takes care of controlling the 16 00:01:53,400 --> 00:02:00,820 ‫position of the other and the other one controls the orientation of the V. 17 00:02:02,060 --> 00:02:12,460 ‫The feedback line Arabisation controller tries to position the UVs center of mass where it's needed 18 00:02:12,850 --> 00:02:14,620 ‫and therefore we can call it. 19 00:02:15,700 --> 00:02:17,410 ‫A position controller. 20 00:02:18,460 --> 00:02:28,000 ‫And then the NPC controller will try to give the others the right orientation or attitude, and so we 21 00:02:28,000 --> 00:02:32,050 ‫can also call it the attitude controller. 22 00:02:33,140 --> 00:02:36,500 ‫So the two of them have different functions. 23 00:02:37,580 --> 00:02:46,220 ‫However, in order for them to succeed in their tasks, they have to work together, it's a teamwork. 24 00:02:46,910 --> 00:02:48,840 ‫They cannot do it individually. 25 00:02:49,850 --> 00:03:00,080 ‫The thing is, in order to reach a required position, the drone first needs to achieve a certain orientation 26 00:03:00,740 --> 00:03:11,150 ‫in terms of its fly and FITA angles and then apply a thrust force, which was you one. 27 00:03:12,050 --> 00:03:13,390 ‫And it makes sense, right? 28 00:03:14,460 --> 00:03:23,880 ‫If your drone is here and then you want to take this center of mass here and you want to put it here. 29 00:03:24,980 --> 00:03:33,290 ‫Then to get there, you have to orient us in the right way and then you have to give it a push. 30 00:03:34,260 --> 00:03:37,080 ‫And that push would be your new one. 31 00:03:38,480 --> 00:03:47,300 ‫And so the feedback linear controller will find the necessary push, the new one, and it will also 32 00:03:47,300 --> 00:03:58,580 ‫find the necessary fi and FITA angles, which will be your reference fi angle and reference to Angle. 33 00:03:59,720 --> 00:04:09,230 ‫These are the things that this feedback liberalization controller will find, it will find these things 34 00:04:09,230 --> 00:04:09,650 ‫here. 35 00:04:10,910 --> 00:04:20,450 ‫Now, the control input you one that this controller will find is sent straight to the plant, so this 36 00:04:20,450 --> 00:04:22,010 ‫will be your new one. 37 00:04:23,090 --> 00:04:32,000 ‫However, Fly Sabbar and Seeta Sub are, they will be sent to the NPC controller. 38 00:04:32,990 --> 00:04:37,910 ‫So look at what's happening as far as the embassy is concerned. 39 00:04:38,930 --> 00:04:49,280 ‫Feyer and Seeta are are just reference values, it does not know if they have come from a planner or 40 00:04:49,310 --> 00:04:50,930 ‫from a different controller. 41 00:04:52,020 --> 00:05:03,870 ‫The NPC only sees the reference values, and its mission is to make the US real PHI and Theta Angles 42 00:05:04,860 --> 00:05:10,620 ‫equal to face up are and seats up are. 43 00:05:11,780 --> 00:05:21,620 ‫In other words, it needs to eliminate the five errors and it needs to eliminate the Seeta errors like 44 00:05:21,620 --> 00:05:22,100 ‫this.