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Titel:

Online Parameter Estimation of the B-Matrix of a Quadcopter in Time- and Frequency-Domain

Dokumenttyp:
Konferenzbeitrag
Autor(en):
Hafner, Simon; Hosseini, Seyedbarzin; Fang, Xiang; Holzapfel, Florian
Abstract:
The performance of control algorithms for eVTOL, like incremental nonlinear dynamic inversion (INDI), relies on precise models of the system. Instead of using pre-identified models, we aim to identify the model online. In this paper we compare sequential least squares in frequency-domain to extended Kalman filtering for identification of the B-matrix, used in INDI. We demonstrated the online identification of the B-matrix in mini-quadcopter flight tests. Both methods can identify constant and ti...     »
Kongress- / Buchtitel:
Advances in Guidance, Navigation and Control. ICGNC 2022
Band / Teilband / Volume:
845
Verlag / Institution:
Springer
Verlagsort:
Singapore
Jahr:
2023
Serientitel:
Lecture Notes in Electrical Engineering
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