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

• المؤلفون الرئيسيون: Cao, Muqing, Xu, Xinhuang, Cao, Kun, Xie, Lihua
• مؤلفون آخرون: School of Electrical and Electronic Engineering
• التنسيق: مقال
• اللغة: English
• منشور في: 2023
• الموضوعات: Engineering::Electrical and electronic engineering; Modelling; Parameter Identification
• الوصول للمادة أونلاين: https://hdl.handle.net/10356/171275

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...