Real-time system identification of quadrotor dynamics

Experimental Parameter Identifications of a Quadrotor by Using an Optimized Trajectory

“…The dynamic parameters in the quadrotor model Then, the dynamic model of the quadrotor given in ( 1) and ( 2) can be rewritten as [6] u + qw − rv + g bx = 0,…”

“…Quadrotors typically consists of a symmetrical lightweight airframe, four brushless DC motors mounted upon it, four fixed-pitch propellers attached to the motors, drivers for each motor, an inertial measurement unit (IMU), a global positioning system (GPS) unit, high-density LiPo batteries and a flight computer loaded with control algorithms [3], [5], [6].…”

“…As suggested in [6], [23], [24], [42], [44], [45], [47], [52]- [56], in this work, the nominal parameters provided by the manufacturer and the new estimated parameters are assessed by comparing real-time experiments with simulations results, and by comparing the output prediction error of the regression model, which is also often called identifier error. Our results indicate that the new estimated parameters show more similarity to the experiments and lower output prediction error than the nominal parameter given by the manufacturer.…”

بررسی تجربی اثر تغییر مکان عمودی مرکز جرم چهارپره بر عملکرد پروازی از طریق شناسایی حوزه‌ی فرکانس

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