System identification for high-performance UAV control in wind
dc.contributor.author | Shastry, Animesh K. | |
dc.contributor.author | Paley, Derek A. | |
dc.date.accessioned | 2024-06-20T16:54:51Z | |
dc.date.available | 2024-06-20T16:54:51Z | |
dc.date.issued | 2023-08-14 | |
dc.description.abstract | This article describes and experimentally evaluates a comprehensive system identification framework for high-performance UAV control in wind. The framework incorporates both linear offline and nonlinear online methods to estimate model parameters in support of a nonlinear model-based control implementation. Inertial parameters of the UAV are estimated using a frequency-domain linear system identification program by incorporating control data obtained from motor-speed sensing along with state estimates from an automated frequency sweep maneuver. The drag-force coefficients and external wind are estimated recursively in flight with a square-root unscented Kalman filter. A custom flight controller is developed to handle the computational demand of the online estimation and control. Flight experiments illustrate the nonlinear controller's tracking performance and enhanced gust rejection capability. | |
dc.description.uri | https://doi.org/10.1002/rnc.6935 | |
dc.identifier | https://doi.org/10.13016/2amp-xwhy | |
dc.identifier.citation | Shastry AK, Paley DA. System identification for high-performance UAV control in wind. Int J Robust Nonlinear Control. 2023; 33(17): 10451–10467. | |
dc.identifier.uri | http://hdl.handle.net/1903/32644 | |
dc.language.iso | en_US | |
dc.publisher | Wiley | |
dc.relation.isAvailableAt | A. James Clark School of Engineering | en_us |
dc.relation.isAvailableAt | Aerospace Engineering | en_us |
dc.relation.isAvailableAt | Digital Repository at the University of Maryland | en_us |
dc.relation.isAvailableAt | University of Maryland (College Park, MD) | en_us |
dc.title | System identification for high-performance UAV control in wind | |
dc.type | Article | |
local.equitableAccessSubmission | No |
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