Identification and evaluation of a force model for multirotor UAVs

Alexandre Letalenet; Pascal Morin

ICRA 2020poster7 citations

Identification and evaluation of a force model for multirotor UAVs

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.

BibTeX

@inproceedings{icra2020_identificationan,
  title = {Identification and evaluation of a force model for multirotor UAVs},
  author = {Alexandre Letalenet and Pascal Morin},
  booktitle = {ICRA 2020},
  year = {2020}
}