On-line aerodynamic identification of quadrotor and its application to tracking control

摘要

This study investigates the aerodynamic effects and the tracking control problem of quadrotor-type unmanned aerial vehicles. The authors first present the on-line identification of the aerodynamic parameters by using the recursive least squares algorithm based on the measurement outputs of the accelerometer. Then, the non-linear discrete-time trajectory tracking controllers with aerodynamic compensation have been designed. Through identifying and compensating the external aerodynamics on line, the simulation results show that the tracking performance has been enhanced, especially when the vehicle is in some flight envelopes where the aerodynamics have significant effects on the quadrotor dynamics, such as the large-acceleration flight regime.