Frequency-domain flight dynamics model identification of MAVs -miniature quad-rotor aerial vehicles

Guowei Cai; Hind Al Mehairi; Hanan Al-Hosani; Jorge Dias; Lakmal Seneviratne

doi:10.1109/IROS.2014.6943032

Frequency-domain flight dynamics model identification of MAVs -miniature quad-rotor aerial vehicles

Guowei Cai, Hind Al Mehairi, Hanan Al-Hosani, Jorge Dias, Lakmal Seneviratne

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

5 Scopus citations

Abstract

In this paper, a complete system identification process for identifying flight dynamics model of MAVs (miniature aerial vehicles) is presented. CIFER identification toolkit, which is developed by NASA Ames research center and particularly suitable for identifying rotary-wing aircraft dynamics, is adopted. The modeling procedure is detailed by addressing the following four key steps: 1) data collection and processing based on frequency-sweep input form, 2) parameter identification in frequency domain by minimizing the cost function, 3) result analysis based on the frequency responses matching, the Cramer-Rao Bound, and the Insensitivity, and 4) model fidelity validation in time domain.

Original language	British English
Title of host publication	IROS 2014 Conference Digest - IEEE/RSJ International Conference on Intelligent Robots and Systems
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	3376-3381
Number of pages	6
ISBN (Electronic)	9781479969340
DOIs	https://doi.org/10.1109/IROS.2014.6943032
State	Published - 31 Oct 2014
Event	2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2014 - Chicago, United States Duration: 14 Sep 2014 → 18 Sep 2014

Publication series

Name	IEEE International Conference on Intelligent Robots and Systems
ISSN (Print)	2153-0858
ISSN (Electronic)	2153-0866

Conference

Conference	2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2014
Country/Territory	United States
City	Chicago
Period	14/09/14 → 18/09/14

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10.1109/IROS.2014.6943032

Cite this

Cai, G., Al Mehairi, H., Al-Hosani, H., Dias, J., & Seneviratne, L. (2014). Frequency-domain flight dynamics model identification of MAVs -miniature quad-rotor aerial vehicles. In IROS 2014 Conference Digest - IEEE/RSJ International Conference on Intelligent Robots and Systems (pp. 3376-3381). Article 6943032 (IEEE International Conference on Intelligent Robots and Systems). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/IROS.2014.6943032

Cai, Guowei ; Al Mehairi, Hind ; Al-Hosani, Hanan et al. / Frequency-domain flight dynamics model identification of MAVs -miniature quad-rotor aerial vehicles. IROS 2014 Conference Digest - IEEE/RSJ International Conference on Intelligent Robots and Systems. Institute of Electrical and Electronics Engineers Inc., 2014. pp. 3376-3381 (IEEE International Conference on Intelligent Robots and Systems).

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title = "Frequency-domain flight dynamics model identification of MAVs -miniature quad-rotor aerial vehicles",

abstract = "In this paper, a complete system identification process for identifying flight dynamics model of MAVs (miniature aerial vehicles) is presented. CIFER identification toolkit, which is developed by NASA Ames research center and particularly suitable for identifying rotary-wing aircraft dynamics, is adopted. The modeling procedure is detailed by addressing the following four key steps: 1) data collection and processing based on frequency-sweep input form, 2) parameter identification in frequency domain by minimizing the cost function, 3) result analysis based on the frequency responses matching, the Cramer-Rao Bound, and the Insensitivity, and 4) model fidelity validation in time domain.",

author = "Guowei Cai and {Al Mehairi}, Hind and Hanan Al-Hosani and Jorge Dias and Lakmal Seneviratne",

note = "Publisher Copyright: {\textcopyright} 2014 IEEE.; 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2014 ; Conference date: 14-09-2014 Through 18-09-2014",

year = "2014",

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doi = "10.1109/IROS.2014.6943032",

language = "British English",

series = "IEEE International Conference on Intelligent Robots and Systems",

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Cai, G, Al Mehairi, H, Al-Hosani, H, Dias, J & Seneviratne, L 2014, Frequency-domain flight dynamics model identification of MAVs -miniature quad-rotor aerial vehicles. in IROS 2014 Conference Digest - IEEE/RSJ International Conference on Intelligent Robots and Systems., 6943032, IEEE International Conference on Intelligent Robots and Systems, Institute of Electrical and Electronics Engineers Inc., pp. 3376-3381, 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2014, Chicago, United States, 14/09/14. https://doi.org/10.1109/IROS.2014.6943032

Frequency-domain flight dynamics model identification of MAVs -miniature quad-rotor aerial vehicles. / Cai, Guowei; Al Mehairi, Hind; Al-Hosani, Hanan et al.
IROS 2014 Conference Digest - IEEE/RSJ International Conference on Intelligent Robots and Systems. Institute of Electrical and Electronics Engineers Inc., 2014. p. 3376-3381 6943032 (IEEE International Conference on Intelligent Robots and Systems).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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AB - In this paper, a complete system identification process for identifying flight dynamics model of MAVs (miniature aerial vehicles) is presented. CIFER identification toolkit, which is developed by NASA Ames research center and particularly suitable for identifying rotary-wing aircraft dynamics, is adopted. The modeling procedure is detailed by addressing the following four key steps: 1) data collection and processing based on frequency-sweep input form, 2) parameter identification in frequency domain by minimizing the cost function, 3) result analysis based on the frequency responses matching, the Cramer-Rao Bound, and the Insensitivity, and 4) model fidelity validation in time domain.

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Cai G, Al Mehairi H, Al-Hosani H, Dias J , Seneviratne L. Frequency-domain flight dynamics model identification of MAVs -miniature quad-rotor aerial vehicles. In IROS 2014 Conference Digest - IEEE/RSJ International Conference on Intelligent Robots and Systems. Institute of Electrical and Electronics Engineers Inc. 2014. p. 3376-3381. 6943032. (IEEE International Conference on Intelligent Robots and Systems). doi: 10.1109/IROS.2014.6943032

Frequency-domain flight dynamics model identification of MAVs -miniature quad-rotor aerial vehicles

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