ホバリング時の低コストクアッドロータ姿勢に関するブラックボックスシステム同定
Black-Box System Identification for Low-Cost Quadrotor Attitude at Hovering
低コストなクアッドロータのホバリング時姿勢ダイナミクスを、実験データに基づくブラックボックス同定でモデル化し、制御設計と検証を行った研究。
著者: Khaled Telli, Boumehraz Mohamed
分類: eess.SY, cs.RO, cs.SY, eess.SP, math.DS
原文アブストラクト
The accuracy of dynamic modelling of unmanned aerial vehicles, specifically quadrotors, is gaining importance since strict conditionalities are imposed on rotorcraft control. The system identification plays a crucial role as an effective approach for the problem of the fine-tuning dynamic models for applications such control system design and as handling quality evaluation. This paper focuses on black-box identification, describing the quadrotor dynamics based on experimental setup through sensor preparation for data collection, modelling, control design, and verification stages.