Experimental Quadrotor Physical Parameters Estimation

I. Cortés-Benito, Y. Tlatelpa-Osorio, M. Martínez-Ramírez, J. G. Romero, H. Rodríguez-Cortés
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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.
实验四旋翼机物理参数估计
本文解决了实验四旋翼物理参数识别使用两个版本的最新提出的技术称为动态回归扩展和混合(DREM)。该技术对回归量进行代数和动态预处理,以减轻激励约束的持久性。从实验飞行中记录的数据,四旋翼的物理参数:惯性,质量和气动阻力,使用基于功率平衡的回归器确定。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
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