TY - GEN
T1 - Online Parameter Estimation of the B-Matrix of a Quadcopter in Time- and Frequency-Domain
AU - Hafner, Simon
AU - Hosseini, Barzin
AU - Fang, Xiang
AU - Holzapfel, Florian
N1 - Publisher Copyright:
© 2023, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.
PY - 2023
Y1 - 2023
N2 - The performance of control algorithms for eVTOL, like incremental nonlinear dynamic inversion (INDI), relies on precise models of the system. Instead of using pre-identified models, we aim to identify the model online. In this paper we compare sequential least squares in frequency-domain to extended Kalman filtering for identification of the B-matrix, used in INDI. We demonstrated the online identification of the B-matrix in mini-quadcopter flight tests. Both methods can identify constant and time-varying parameters, but only with sufficient excitation. Otherwise, the parameters cannot be estimated precisely and drift away. In this study, we lay the basis for integrating online parameter estimation into INDI.
AB - The performance of control algorithms for eVTOL, like incremental nonlinear dynamic inversion (INDI), relies on precise models of the system. Instead of using pre-identified models, we aim to identify the model online. In this paper we compare sequential least squares in frequency-domain to extended Kalman filtering for identification of the B-matrix, used in INDI. We demonstrated the online identification of the B-matrix in mini-quadcopter flight tests. Both methods can identify constant and time-varying parameters, but only with sufficient excitation. Otherwise, the parameters cannot be estimated precisely and drift away. In this study, we lay the basis for integrating online parameter estimation into INDI.
KW - Extended Kalman filter
KW - Online parameter estimation
KW - Sequential least squares
KW - System identification
UR - https://www.scopus.com/pages/publications/85151153594
U2 - 10.1007/978-981-19-6613-2_268
DO - 10.1007/978-981-19-6613-2_268
M3 - Conference contribution
AN - SCOPUS:85151153594
SN - 9789811966125
T3 - Lecture Notes in Electrical Engineering
SP - 2758
EP - 2769
BT - Advances in Guidance, Navigation and Control - Proceedings of 2022 International Conference on Guidance, Navigation and Control
A2 - Yan, Liang
A2 - Duan, Haibin
A2 - Deng, Yimin
A2 - Yan, Liang
PB - Springer Science and Business Media Deutschland GmbH
T2 - International Conference on Guidance, Navigation and Control, ICGNC 2022
Y2 - 5 August 2022 through 7 August 2022
ER -