{"title":"Identification and evaluation of a force model for multirotor UAVs*","authors":"Alexandre Letalenet, P. Morin","doi":"10.1109/ICRA40945.2020.9197317","DOIUrl":null,"url":null,"abstract":"This paper proposes a model identification method and evaluation of a force model for multirotor UAVs. The model incorporates propellers’ aerodynamics derived from momentum and blade element theories, as well as aerodynamics of the UAV’s structure and actuation dynamics. A two-steps identification approach of the model parameters is proposed. The model is identified and evaluated from outdoor experiments with flight speeds exceeding 10m/s.","PeriodicalId":6859,"journal":{"name":"2020 IEEE International Conference on Robotics and Automation (ICRA)","volume":null,"pages":null},"PeriodicalIF":0.0000,"publicationDate":"2020-05-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"3","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"2020 IEEE International Conference on Robotics and Automation (ICRA)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/ICRA40945.2020.9197317","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
引用次数: 3
Abstract
This paper proposes a model identification method and evaluation of a force model for multirotor UAVs. The model incorporates propellers’ aerodynamics derived from momentum and blade element theories, as well as aerodynamics of the UAV’s structure and actuation dynamics. A two-steps identification approach of the model parameters is proposed. The model is identified and evaluated from outdoor experiments with flight speeds exceeding 10m/s.
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