I. Cortés-Benito, Y. Tlatelpa-Osorio, M. Martínez-Ramírez, J. G. Romero, H. Rodríguez-Cortés
{"title":"Experimental Quadrotor Physical Parameters Estimation","authors":"I. Cortés-Benito, Y. Tlatelpa-Osorio, M. Martínez-Ramírez, J. G. Romero, H. Rodríguez-Cortés","doi":"10.1109/ICUAS57906.2023.10156332","DOIUrl":null,"url":null,"abstract":"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.","PeriodicalId":379073,"journal":{"name":"2023 International Conference on Unmanned Aircraft Systems (ICUAS)","volume":"2 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2023-06-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"2023 International Conference on Unmanned Aircraft Systems (ICUAS)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/ICUAS57906.2023.10156332","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
引用次数: 0
Abstract
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.