An Auxiliary Model Construction Method for System Identification and Its Application to An Indoor Multicopter Platform

Abstract

In this paper, an auxiliary modeling method for system identification is proposed for multicopter dynamic modeling. By utilizing an auxiliary controller called damper during the modeling and identification process, the unstable attitude angle and angular rate channels of multicopters can turn to be stable so as to obtain the parameterized dynamic model without safety problems led by traditional methods and large-space requirement. Through an application to an indoor fixed quadcopter system, simulation results demonstrate the feasibility of the proposed method for the multicopter dynamic modeling.