scholarly journals A Survey of Modelling and Identification of Quadrotor Robot

2014 ◽  
Vol 2014 ◽  
pp. 1-16 ◽  
Author(s):  
Xiaodong Zhang ◽  
Xiaoli Li ◽  
Kang Wang ◽  
Yanjun Lu
Keyword(s):  
Nonlinear Model ◽  
Model Identification ◽  
Unstable System ◽  
Forward Flight ◽  
Strongly Coupled ◽  
Fundamental Research ◽  
Practical Model ◽  
Quadrotor Robot ◽  
Configuration Methodology

A quadrotor is a rotorcraft capable of hover, forward flight, and VTOL and is emerging as a fundamental research and application platform at present with flexibility, adaptability, and ease of construction. Since a quadrotor is basically considered an unstable system with the characteristics of dynamics such as being intensively nonlinear, multivariable, strongly coupled, and underactuated, a precise and practical model is critical to control the vehicle which seems to be simple to operate. As a rotorcraft, the dynamics of a quadrotor is mainly dominated by the complicated aerodynamic effects of the rotors. This paper gives a tutorial of the platform configuration, methodology of modeling, comprehensive nonlinear model, the aerodynamic effects, and model identification for a quadrotor.

Nonlinear model identification of a frictional contact support

2010 ◽  
Vol 24 (8) ◽  
pp. 2844-2854 ◽  
Author(s):  
Hamid Ahmadian ◽  
Hassan Jalali ◽  
Fatemeh Pourahmadian
Keyword(s):  
Nonlinear Model ◽  
Frictional Contact ◽  
Model Identification ◽  
Nonlinear Model Identification

scholarly journals Nonlinear model identification and spectral submanifolds for multi-degree-of-freedom mechanical vibrations

2017 ◽  
Vol 473 (2202) ◽  
pp. 20160759 ◽  
Author(s):  
Robert Szalai ◽  
David Ehrhardt ◽  
George Haller
Keyword(s):  
Nonlinear Model ◽  
Invariant Manifolds ◽  
Model Identification ◽  
Oscillatory System ◽  
Least Square ◽  
Least Square Fit ◽  
Backbone Curves ◽  
Nonlinear Model Identification ◽  
Real Experimental Data ◽  
Spectral Submanifolds

In a nonlinear oscillatory system, spectral submanifolds (SSMs) are the smoothest invariant manifolds tangent to linear modal subspaces of an equilibrium. Amplitude–frequency plots of the dynamics on SSMs provide the classic backbone curves sought in experimental nonlinear model identification. We develop here, a methodology to compute analytically both the shape of SSMs and their corresponding backbone curves from a data-assimilating model fitted to experimental vibration signals. This model identification utilizes Taken’s delay-embedding theorem, as well as a least square fit to the Taylor expansion of the sampling map associated with that embedding. The SSMs are then constructed for the sampling map using the parametrization method for invariant manifolds, which assumes that the manifold is an embedding of, rather than a graph over, a spectral subspace. Using examples of both synthetic and real experimental data, we demonstrate that this approach reproduces backbone curves with high accuracy.

R-MAX Helicopter State-Space Model Identification for Hover and Forward-Flight

2006 ◽  
Vol 51 (2) ◽  
pp. 202-210 ◽  
Author(s):  
Rendy P. Cheng ◽  
Mark B. Tischler ◽  
Greg J. Schulein
Keyword(s):  
State Space ◽  
State Space Model ◽  
Model Identification ◽  
Forward Flight ◽  
Space Model
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