59103

Автор(ы): 

Автор(ов): 

3

Параметры публикации

Тип публикации: 

Доклад

Название: 

Identification of the quadcopter vertical translation dynamics

Электронная публикация: 

Да

DOI: 

10.1109/MED48518.2020.9183127

Наименование конференции: 

  • 28th Mediterranean Conference on Control and Automation (MED'2020, Saint-Raphael, France)

Наименование источника: 

  • Proceedings of the 28th Mediterranean Conference on Control and Automation (MED'2020, Saint-Raphael, France)

Город: 

  • Saint-Raphael

Издательство: 

  • IEEE Explore Digital Library

Год издания: 

2020

Страницы: 

363-368
Аннотация
The paper deals with the quadcopter dynamics model identification. The vertical translation is separated as the SISO control loop. The transfer functions from the throttle to vertical velocity and to altitude are studied. The finite-frequency identification is exploited to estimate the transfer function coefficients. This approach includes the feature of the closed loop identification, that is, a controller operates to stabilize the system and to provide performance during the identification test. However, the controller formulae and parameters are not needed for identification. It is important for a quadcopter controlled by standard autopilot software. A standard quadcopter is used as the experimental setup. The identification results from the experimental flight data are considered.

Библиографическая ссылка: 

Александров В.А., Резков И.Г., Шатов Д.В. Identification of the quadcopter vertical translation dynamics / Proceedings of the 28th Mediterranean Conference on Control and Automation (MED'2020, Saint-Raphael, France). Saint-Raphael: IEEE Explore Digital Library, 2020. С. 363-368.