TY - GEN
T1 - Determining the UAV state space rotational dynamics model using algebraic inversion technique
AU - Muliadi, Jemie
AU - Putro, Benyamin Kusumo
N1 - Publisher Copyright:
© 2017 ACM.
PY - 2017/1/20
Y1 - 2017/1/20
N2 - Adequate models of UAV's dynamics were important for a successful aerial mission. Such adequate model of flight dynamics were required to assemble a good flight controller. For modeling purposes, the state space methods have been applied in various system dynamics. In the conventional modeling, the UAV's state space constructed from the first principle which involved efforts of measurement and deals with uncertainties and errors in sensors reading. Hence, this work proposes a simplified method to identify the UAV state space directly from its flight data. The flight data were directly used to overcome the uncertainties issues. As the conclusion, this method were able to ommit the requirement for moments of inertia measurement compared to previous technique of State Space modeling.
AB - Adequate models of UAV's dynamics were important for a successful aerial mission. Such adequate model of flight dynamics were required to assemble a good flight controller. For modeling purposes, the state space methods have been applied in various system dynamics. In the conventional modeling, the UAV's state space constructed from the first principle which involved efforts of measurement and deals with uncertainties and errors in sensors reading. Hence, this work proposes a simplified method to identify the UAV state space directly from its flight data. The flight data were directly used to overcome the uncertainties issues. As the conclusion, this method were able to ommit the requirement for moments of inertia measurement compared to previous technique of State Space modeling.
KW - Linearized Newton-euler equation
KW - Quadrotor modeling
KW - State space identification
KW - UAV
UR - http://www.scopus.com/inward/record.url?scp=85021400596&partnerID=8YFLogxK
U2 - 10.1145/3036331.3036355
DO - 10.1145/3036331.3036355
M3 - Conference contribution
AN - SCOPUS:85021400596
T3 - ACM International Conference Proceeding Series
SP - 52
EP - 56
BT - Proceedings of the 8th International Conference on Computer Modeling and Simulation, ICCMS 2017
PB - Association for Computing Machinery
T2 - 8th International Conference on Computer Modeling and Simulation, ICCMS 2017
Y2 - 20 January 2017 through 23 January 2017
ER -