Parameter Identification Method for Quad-Rotor UAV Based on the Lyapunov-MARI Algorithm

摘要

The traditional parameter identification method of the quad-rotor UAV (Unmanned Aerial Vehicle) model requires special experimental equipment, and the experimental process is very complex. To overcome this problem, the current paper proposes a Lyapunov-MARI (Model Reference Adaptive Identification) algorithm, which only needs the UAV and some common sensors to realize the parameter identification. Firstly, the current paper determines specific parameters which are not easy to be measured in the quad-rotor UAV model. These parameters mainly include the three axis moments of inertia, the rotors lift coefficient and drag coefficient. Then, for the moments of inertia, the traditional period measurement method of the Rope Suspension Approach is improved. For the lift and drag coefficients, the Lyapunov-MARI algorithm is proposed for the parameter identification. The result shows that the flight state calculated by the identified parameters are compatible with the actual flight data.