Robust identification of quadrocopter model for control purposes
| Autor: | Krzysztof Arminski, Tomasz Zubowicz |
|---|---|
| Rok vydání: | 2017 |
| Předmět: |
0209 industrial biotechnology
Engineering business.industry Control engineering 02 engineering and technology Rigid body 020901 industrial engineering & automation Control theory Robustness (computer science) 0202 electrical engineering electronic engineering information engineering Measurement uncertainty 020201 artificial intelligence & image processing Voltage source business Actuator Dynamic equation |
| Zdroj: | MMAR |
| DOI: | 10.1109/mmar.2017.8046849 |
| Popis: | 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. |
| Databáze: | OpenAIRE |
| Externí odkaz: |
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