| Issue |
MATEC Web Conf.
Volume 291, 2019
2019 The 3rd International Conference on Mechanical, System and Control Engineering (ICMSC 2019)
|
|
|---|---|---|
| Article Number | 01004 | |
| Number of page(s) | 5 | |
| Section | Control System | |
| DOI | https://doi.org/10.1051/matecconf/201929101004 | |
| Published online | 28 August 2019 | |
CAD-based Approach for Identification of UAVs
1 Automatic Control Department, Technical University of Catalonia, Barcelona, Spain
2 Robotics Institute IRI, UPC/CSIC, Barcelona, Spain
a Corresponding author: antoni.grau@upc.edu
The paper presents an approach for the identification of the parameters of an Unmanned Aerial Vehicle (UAV), specifically a quadrotor using experiments in a CAD environment. A linearized control model is proposed to create a global model that operates in all operation range. Usually, in this type of systems a linear time invariant (LTI) controller is used, and then a lineal control model around each operating point is needed to the design of the controller. In this study, a linear control model suitable in each operating point is developed and identified. This serial of LTI control model can be combined and provides a global control model. Therefore, through this global control model can be designed a global controller suitable for all the operating range.
© The Authors, published by EDP Sciences, 2019
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