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Robust identification of quadrocopter model for control purposes

Abstract

The paper addresses a problem of quadrotor unmanned aerial vehicle (so-called X4-flyer or quadrocopter) utility model identification for control design purposes. To that goal the quadrotor model is assumed to be composed of two abstracted subsystems, namely a rigid body (plant) and four motors equipped with blades (actuators). The model of the former is acquired based on a well-established dynamic equations of motion while the latter is to be identified as a static relationship from laboratory experiments data. Moreover, the actuator model is to account for the on-flight battery power source voltage drop effects. The actuator parameter identification algorithm is kept in a set-membership framework. In addition a mechanism to reduce the conservativeness of the solution is proposed and applied. Numerical illustration of the results is provided.

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Category:
Conference activity
Type:
materiały konferencyjne indeksowane w Web of Science
Title of issue:
2017 22nd International Conference on Methods and Models in Automation and Robotics (MMAR) strony 337 - 342
Language:
English
Publication year:
2017
Bibliographic description:
Armiński K., Zubowicz T..: Robust identification of quadrocopter model for control purposes, W: 2017 22nd International Conference on Methods and Models in Automation and Robotics (MMAR), 2017, ,.
DOI:
Digital Object Identifier (open in new tab) 10.1109/mmar.2017.8046849
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Gdańsk University of Technology

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