System Identification of the Quadrotor Flying Robot in Hover using Prediction Error Method

摘要

In this paper, a practical system identification method is applied to obtain a linear time-invariant (LTI) model of a quadrotor using input-output flight data as opposed to painstaking mathematical modeling techniques using the prediction error method with the black-box model approach. The fidelity verifications show that the proposed method provides a fairly accurate model of the quadrotor flying robot. This acquisition of high fidelity system model of the quadrotor will be a crucial step for the successful design of high-performance flight control system.