Generalized Attitude Model Identification of a Quadrotor

This paper studies the generalized attitude model (GAM) identification of a controlled quadrotor by using flight experimental data. The GAM describes the dynamics of the quadrotor and its driving motors. Its mechanism analysis will be first carried out for guiding the parametrization of its estimati...

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Bibliographic Details
Published in:Journal of physics. Conference series 2021-06, Vol.1887 (1), p.12017
Main Authors: Qin, Qiao-Hui, Liu, Jin-Cang, Geng, Li-Hui
Format: Article
Language:English
Subjects:
Attitudes
Controllers
Parameterization
Physics
Robust control
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Summary:This paper studies the generalized attitude model (GAM) identification of a controlled quadrotor by using flight experimental data. The GAM describes the dynamics of the quadrotor and its driving motors. Its mechanism analysis will be first carried out for guiding the parametrization of its estimation model. Before the prediction error method (PEM) is applied on the GAM identification, the involved closed-loop identifiability problem is addressed. Finally, the accuracy of the estimated GAM is validated by comparisons of Bode diagrams and controller performances achieved by a redesigned robust controller.
ISSN:1742-6588
1742-6596
DOI:10.1088/1742-6596/1887/1/012017