Rodríguez-Cortés, Hugo (Centro de Investigación Y de Estudios Avanzados del IPN), Romero, Jose-Guadalupe (Instituto Tecnológico Autónomo de México), Tlatelpa-Osorio, Y. E. (Centro de Investigación Y de Estudios Avanzados del IPN), Martinez-Ramirez, Marco A. (Centro de Investigación Y de Estudios Avanzados del IPN), Corte ́s-Benito, I. (Centro de Investigación Y de Estudios Avanzados del IPN)

Experimental Quadrotor Physical Parameters Estimation

Scheduled for presentation during the Regular Session "Multirotor Design and Control II" (FrB5), Friday, June 9, 2023, 15:40−16:00, Room 466

2023 International Conference on Unmanned Aircraft Systems (ICUAS), June 6-9, 2023, Lazarski University, Warsaw, Poland

This information is tentative and subject to change. Compiled on April 23, 2024

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.