Modeling and ARX Identification of a Quadrotor MiniUAV


Sarioglu A., Kural A.

9th International Conference on Electrical and Electronics Engineering (ELECO), Bursa, Türkiye, 26 - 28 Kasım 2015, ss.1196-1200 identifier

  • Yayın Türü: Bildiri / Tam Metin Bildiri
  • Basıldığı Şehir: Bursa
  • Basıldığı Ülke: Türkiye
  • Sayfa Sayıları: ss.1196-1200
  • İstanbul Teknik Üniversitesi Adresli: Evet

Özet

In this work, a miniature-sized, radio controlled quadrotor is modeled and a black-box model is found using real-time flight data. The quadrotor which is used in this work is equipped with a special telemetry circuit to collect real-time data. Euler angles versus motor speeds data is used to identify the nonlinear rotational subsystem of the quadrotor as a quasi-linear ARX (auto-regressive exogenous) model. The ARX model performances are tested and found quite satisfactory.