To explore the aerodynamic effects on a quadrotor in the high-speed flight regime and establish an accurate nonlinear model, free-flight tests with a quadrotor are carried out in a large-scale wind tunnel. The flight data reveal that complex aerodynamic interactions could appear and significantly influence the forces and moments acting on the quadrotor, which indicate the inaccuracy of state-of-art models established based on helicopter aerodynamic theory. To cope with this problem, gray-box models considering these effects are identified from flight data using a stepwise system identification approach, which combines both prior knowledge of rotorcraft aerodynamic properties as well as data observations. Previous models introduced in the literature are compared with the gray-box models. Validation results show an 80% reduction of moment model residuals and a 20% reduction of force model residuals.


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    Title :

    Quadrotor Gray-Box Model Identification from High-Speed Flight Data


    Contributors:

    Published in:

    Journal of Aircraft ; 56 , 2 ; 645-661


    Publication date :

    2018-11-24


    Size :

    17 pages




    Type of media :

    Article (Journal)


    Type of material :

    Electronic Resource


    Language :

    English




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