论文信息 - System Identification and Controller Optimization of Coaxial Quadrotor UAV in Hover

System Identification and Controller Optimization of Coaxial Quadrotor UAV in Hover

With relatively little study done on the stability and control of coaxial multirotor UAV configurations, more data is required to accurately assess the benefits of the coaxial configuration compared to traditional multirotor configurations. In this paper, system identification of the 3DR X8+ aircraft, a coaxial quadrotor, via frequency domain system identification techniques were performed. The obtained dynamics were then used to design and optimize an Attitude Command/Attitude Hold control law utilizing the Explicit Model Following architecture. The results were compared with the results of a previously identified and optimized 3DR IRIS+, a quadrotor, with similar physical characteristics.

Mark B. Tischler | Sung H. Cho | Subodh Bhandari | Frank C. Sanders | Kenny K. Cheung

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