CAD-based Approach for Identification of UAVs

Abstract

The paper presents an approach for the identification of the parameters of an Unmanned Aerial Vehicle (UAV), specifically a quadrotor using experiments in a CAD environment. A linearized control model is proposed to create a global model that operates in all operation range. Usually, in this type of systems a linear time invariant (LTI) controller is used, and then a lineal control model around each operating point is needed to the design of the controller. In this study, a linear control model suitable in each operating point is developed and identified. This serial of LTI control model can be combined and provides a global control model. Therefore, through this global control model can be designed a global controller suitable for all the operating range.