Modeling and System Identification using Extended Kalman Filter for a Quadrotor System

Abas, Norafizah and Ibrahim, Zulkifilie and Rahim, Nor Hidayah and M. Kassim, Anuar (2013) Modeling and System Identification using Extended Kalman Filter for a Quadrotor System. Modeling and System Identification using Extended Kalman Filter for a. pp. 976-981. ISSN AMM.313-314.976

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Abstract

Quadrotor has emerged as a popular testbed for Unmanned Aerial Vehicle (UAV) research due to its simplicity in construction and maintenance, and its vertical take-off, landing and hovering capabilities. It is a flying rotorcraft that has four lift-generating propellers; two of the propellers rotate clockwise and the other two rotate counter-clockwise. This paper presents modeling and system identification for auto-stabilization of a quadrotor system through the implementation of Extended Kalman Filter (EKF). EKF has known to be typical estimation technique used to estimate the state vectors and parameters of nonlinear dynamical systems. In this paper, two main processes are highlighted; dynamic modeling of the quadrotor and the implementation of EKF algorithms. The aim is to obtain a more accurate dynamic modelby identify and estimate the needed parameters for thequadrotor. The obtained results demonstrate the performances of EKF based on the flight test applied to the quadrotor system.

Item Type:	Article
Subjects:	T Technology > TA Engineering (General). Civil engineering (General)
Divisions:	Faculty of Electrical Engineering > Department of Mechatronics Engineering
Depositing User:	Norafizah Abas
Date Deposited:	28 May 2014 07:58
Last Modified:	28 May 2015 04:26
URI:	http://eprints.utem.edu.my/id/eprint/12565
Statistic Details:	View Download Statistic

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