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http://dx.doi.org/10.15207/JKCS.2017.8.4.009

System Identification of Quadrotor IT Convergence UAV using Batch and RLS Estimation Methods  

Jung, Sunghun (Department of Drone System, Chodang University)
Publication Information
Journal of the Korea Convergence Society / v.8, no.4, 2017 , pp. 9-18 More about this Journal
Abstract
UAVs began to be actively applied to so-called 3D jobs, including the autonomous exploration, investigation, mapping, search and rescue, etc. since the mid-2000s. With this global trend, having a precise controllability of the UAV will certainly revolutionize the life of the modern human in the aspect of tremendous applications of the UAV. In the first part, a simplified dynamic model of the UAV identified using system identification techniques is compared with the previously built time-discrete linear model. In the second part, the three parameters of the dynamic model are estimated using the batch and RLS methods. Angular acceleration data of the quadrotor UAV at the hovering maneuver are analyzed and shown to be converging at all time. Also, according to the quadrotor flight data from both experiments and MATLAB simulations, the batch estimation method turns out to be more accurate than the RLS estimation method based on the comparison of final parameter values.
Keywords
Batch; Quadrotor; RLS; System Identification; UAV;
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