Open AccessGeneralized Attitude Model Identification of a Quadrotor
Author(s) -
Qiao-Hui Qin,
Jin-Cang Liu,
LiHui Geng
Publication year - 2021
Publication title -
journal of physics. conference series
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.21
H-Index - 85
eISSN - 1742-6596
pISSN - 1742-6588
DOI - 10.1088/1742-6596/1887/1/012017
Subject(s) - identifiability , control theory (sociology) , identification (biology) , parametrization (atmospheric modeling) , controller (irrigation) , system identification , control engineering , generalized additive model , engineering , computer science , control (management) , artificial intelligence , data modeling , machine learning , physics , botany , quantum mechanics , agronomy , biology , software engineering , radiative transfer
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.