Modeling and Predictive Control of Nonlinear Coupled and Underactuated Dynamics of a Hexacopter
DOI:
https://doi.org/10.22213/2413-1172-2016-4-35-38Keywords:
UAV, hexacopter, Kalman filter, nonlinear, coupledAbstract
This paper considers the application of Kalman Filtering (KF) for Unmanned Aerial Vehicle (UAV) identification. A 3 Degree-Of-Freedom (DOF), nonlinear, coupled, and underactuated dynamics were considered for formulating the mathematical model to be used in numerical simulation. This work presents a simulation study that investigates unknown dynamics model parameters estimation of a hexacopter UAV under the presence of noisy feedback signals. Subspace identification method via principle component analysis was used to identify a precise nonlinear model based on Kalman filter to estimate and predict the hexacopter’s altitude. The results are compared with those obtained without using the predictive technique.References
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