Dynamic Modelling and Experimental Identification of Four Rotors Helicopter Parameters

In this paper an experimental identification of dynamic parameters of a four rotors mini helicopter is presented. An appropriate model for identification and control synthesis is obtained via modelization procedure where several phenomena are included like gyroscopic effects, aerodynamic friction. A comparison between simulated and real system is made in closed loop system using a same controller. The obtained results show the good estimation of the dynamic model.

[1]  P. McKerrow.  Modelling the Draganflyer four-rotor helicopter , 2004, IEEE International Conference on Robotics and Automation, 2004. Proceedings. ICRA '04. 2004.

[2]  Rogelio Lozano,et al.  Real-time stabilization and tracking of a four-rotor mini rotorcraft , 2004, IEEE Transactions on Control Systems Technology.

[3]  Roland Siegwart,et al.  PID vs LQ control techniques applied to an indoor micro quadrotor , 2004, 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (IEEE Cat. No.04CH37566).

[4]  T. Madani,et al.  Commande adaptative décentralisée à structure variable d'une classe de systèmes non-linéaires interconnectés : application à un robot volant , 2007 .

[5]  Thomas F. Coleman,et al.  Optimization Toolbox User's Guide , 1998 .

[6]  Robert E. Mahony,et al.  Control of a quadrotor helicopter using visual feedback , 2002, Proceedings 2002 IEEE International Conference on Robotics and Automation (Cat. No.02CH37292).

[7]  M. Chen,et al.  A Simulation Model and H( Loop Shaping Control of a Quad Rotor Unmanned Air Vehicle , 2003, Modelling, Simulation, and Optimization.