Experimental Quadrotor Physical Parameters Estimation

被引：2

作者：

Cortes-Benito, I. ^{[1
]}

Tlatelpa-Osorio, Y. E. ^{[2
]}

Martinez-Ramirez, M. ^{[1
]}

Romero, J. G. ^{[3
]}

Rodriguez-Cortes, H. ^{[1
]}

机构：

[1] Inst Politecn Nacl, Ctr Invest & Estudios Avanzados, Dept Ingn Elect, Secc Mecatron, Mexico City 07360, Mexico

[2] ITAM, Dept Acad Ingn Ind & Operac, Rio Hondo 1, Mexico City 01080, Mexico

[3] ITAM, Dept Acad Sistemas Digitales, Rio Hondo 1, Mexico City 01080, Mexico

来源：

2023 INTERNATIONAL CONFERENCE ON UNMANNED AIRCRAFT SYSTEMS, ICUAS | 2023年

关键词：

D O I：

10.1109/ICUAS57906.2023.10156332

中图分类号：

V [航空、航天];

学科分类号：

08 ; 0825 ;

摘要：

This paper addresses the experimental quadrotor physical parameter identification using two versions of the recently proposed technique known as dynamic regressor extension and mixing (DREM). This technique preprocesses, algebraically and dynamically, the regressor to alleviate the persistency of excitation constraints. From the recorded data in experimental flights, the quadrotor physical parameters: inertia, mass, and aerodynamic drag, are identified using a power balance-based regressor.

引用

页码：1356 / 1362

页数：7

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