Parameter identification of an autonomous quadrotor
This paper describes one of possible parameter identification approach for a quadrotor. The unknown parameter of the quadrotor will be identified using state estimation method with the implementation of Unscented Kalman Filter (UKF). In the identification of state and parameter for nonlinear dynam...
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| Main Authors: | , , |
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| Format: | Conference or Workshop Item |
| Language: | English |
| Published: |
2011
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| Subjects: | |
| Online Access: | http://irep.iium.edu.my/5390/1/icom11_fiza_quadrotor.pdf http://irep.iium.edu.my/5390/ http://dx.doi.org/10.1109/ICOM.2011.5937198 |
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| Institution: | Universiti Islam Antarabangsa Malaysia |
| Language: | English |
| Summary: | This paper describes one of possible parameter identification approach for a quadrotor. The unknown
parameter of the quadrotor will be identified using state
estimation method with the implementation of Unscented Kalman Filter (UKF). In the identification of state and parameter for nonlinear dynamic system, UKF has grown to be superior techniques. Two main processes highlighted in this paper are dynamic modeling of quadrotor and the implementation of UKF algorithm. The aim is to identify and estimate the needed parameters for an autonomous quadrotor. The obtained results demonstrate the performance of UKF based on the flight test applied to the quadrotor system. |
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