System identification of a quadcopter's rotational dynamics using android flight data

Author(s):  
Mohammad A. Alsharif ◽  
Matthew S. Holzel
Author(s):  
Peng Wei ◽  
Xinfan Lin ◽  
Zhaodan Kong

AbstractMultirotor airplanes are widely used in many outdoor applications, e.g., agriculture, transportation, and public safety, where winds might be strong and prevalent. However, the effects of wind on multirotor aircraft are still not fully understood yet. The objective of this paper is to investigate and model wind effects on a real hovering octocopter. The wind is directly measured and considered as one of the inputs to the bare-airframe model. Then a series of models, each corresponding to a different wind condition, are identified from real flight data through a system identification approach. The time-domain validation results show that an average of 15% error reduction can be achieved by considering wind effects, captured by a wind correction term. The identified models will play an important role for the future development of model-based controllers for outdoor multirotor aircraft.


2015 ◽  
Vol 119 (1222) ◽  
pp. 1541-1560 ◽  
Author(s):  
S. Manso

AbstractThis paper provides an overview of techniques developed for the application of support vector regression in the domain of simulation and system identification of helicopter dynamics. A generic high fidelity FLIGHTLAB helicopter model is used to train and validate a number of pitch response SVR models. These models are then trained using flight data from a Sikorsky Seahawk helicopter. The SVR simulation results show significant promise in the ability to represent aspects of a helicopter’s dynamics at a high fidelity. To achieve this, it is important to provide the SVR kernel with knowledge of past inputs that encompass the delay characteristics of the helicopter dynamic system. In this case, the use of nonlinear auto regressive eXogenous input network architecture achieves this goal. Good performance was achieved using input data that encompassed between 300 to 500ms worth of historic response.


Author(s):  
Martin Trittler ◽  
Walter Fichter ◽  
Rudolf Voit-Nitschmann ◽  
Robert Schmoldt ◽  
Klaus Kittmann

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