System identification and control of the ground operation mode of a hybrid aerial–ground robot

• Main Authors: Cao, Muqing, Xu, Xinhuang, Cao, Kun, Xie, Lihua
• Other Authors: School of Electrical and Electronic Engineering
• Format: Article
• Language: English
• Published: 2023
• Subjects: Engineering::Electrical and electronic engineering; Modelling; Parameter Identification
• Online Access: https://hdl.handle.net/10356/171275
• Institution: Nanyang Technological University

This paper presents an in-depth analytical and empirical assessment of the performance of DoubleBee, a novel hybrid aerial–ground robot. Particularly, the dynamic model of the robot with ground contact is analyzed, and the unknown parameters in the model are identified. We apply an unscented Kalman...