Frequency-Domain System Identification and Simulation of a Quadrotor Controller

摘要

Using frequency-domain system identification techniques, the closed-loop dynamic model of a quadrotor unmanned aerial vehicle is extracted using the computer program CIFER~®. The resulting dynamic model is verified by comparing its predicted response against previously collected flight-test data. The results show that an accurate model was successfully extracted, which could be utilized for simulations and control system development. Simulation of the extracted model and analysis of the transient response are also provided.