‫Now, so far, you have seen that the controller gets all the six reference values in one full batch.
‫However, that is not how it works in this case.
‫You see, even though we have 12 states, six in the inertia frame and six in the body frame on a broad
‫scale, we can describe the UVs motion in terms of position.
‫And in terms of orientation separately.
‫In the inertia frame, the states, X, Y and Z are used for position.
‫And then the states, Fi, Seeta and Passi are used for orientation.
‫When we talk about position, then we are concerned with where the center of mass of the drone is,
‫it's X, Y and Z coordinates the X, Y, Z coordinates of the center of mass of the wave.
‫We don't care how the drone is oriented.
‫However, when we talk about the orientation of the drone, then we don't care about where the other
‫center of mass is located in terms of its X, Y and Z coordinates.
‫Instead, we care about its Fifita and BPCI angles.
‫And the convention used, of course.
‫And so the reason why you have two controllers is because one controller takes care of controlling the
‫position of the other and the other one controls the orientation of the V.
‫The feedback line Arabisation controller tries to position the UVs center of mass where it's needed
‫and therefore we can call it.
‫A position controller.
‫And then the NPC controller will try to give the others the right orientation or attitude, and so we
‫can also call it the attitude controller.
‫So the two of them have different functions.
‫However, in order for them to succeed in their tasks, they have to work together, it's a teamwork.
‫They cannot do it individually.
‫The thing is, in order to reach a required position, the drone first needs to achieve a certain orientation
‫in terms of its fly and FITA angles and then apply a thrust force, which was you one.
‫And it makes sense, right?
‫If your drone is here and then you want to take this center of mass here and you want to put it here.
‫Then to get there, you have to orient us in the right way and then you have to give it a push.
‫And that push would be your new one.
‫And so the feedback linear controller will find the necessary push, the new one, and it will also
‫find the necessary fi and FITA angles, which will be your reference fi angle and reference to Angle.
‫These are the things that this feedback liberalization controller will find, it will find these things
‫here.
‫Now, the control input you one that this controller will find is sent straight to the plant, so this
‫will be your new one.
‫However, Fly Sabbar and Seeta Sub are, they will be sent to the NPC controller.
‫So look at what's happening as far as the embassy is concerned.
‫Feyer and Seeta are are just reference values, it does not know if they have come from a planner or
‫from a different controller.
‫The NPC only sees the reference values, and its mission is to make the US real PHI and Theta Angles
‫equal to face up are and seats up are.
‫In other words, it needs to eliminate the five errors and it needs to eliminate the Seeta errors like
‫this.