| Autor: |
Christopher Leshikar, Nidhin Ninan, Kameron Eves, John Valasek |
| Rok vydání: |
2021 |
| Předmět: |
|
| Zdroj: |
2021 International Conference on Unmanned Aircraft Systems (ICUAS). |
| DOI: |
10.1109/icuas51884.2021.9476871 |
| Popis: |
Certain dynamic modes of asymmetric quadrotor configurations are difficult to accurately model analytically. This paper synthesizes an analytical nonlinear parametric state-space model of an asymmetric quadrotor, and verifies it using a non-parametric model calculated from experimentally measured inputs and outputs of the actual vehicle. The offline system identification process produces a discrete-time Linear Time Invariant state-space model using the Observer Kalman Identification algorithm. This model is converted to a continuous time model for comparison to the linearized analytical model. Eigenvlaues, modes, and mode metrics are used to compare the parametric and non-parametric linear models. Results presented in the paper demonstrate that the identified linear model compares well to the linearized analytical model and validates the approach. |
| Databáze: |
OpenAIRE |
| Externí odkaz: |
|
