System Identification of a Micro Aerial Vehicle
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Journal Title
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Volume Title
Sähkötekniikan korkeakoulu |
Master's thesis
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Authors
Date
2018-08-20
Department
Major/Subject
Space Robotics and Automation
Mcode
ELEC3047
Degree programme
Erasmus Mundus Space Master
Language
en
Pages
67
Series
Abstract
The purpose of this thesis was to implement an Model Predictive Control based system identification method on a micro-aerial vehicle (DJI Matrice 100) as outlined in a study performed by ETH Zurich. Through limited test flights, data was obtained that allowed for the generation of first and second order system models. The first order models were robust, but the second order model fell short due to the fact that the data used for the model was not sufficient.Description
Supervisor
Visala, ArtoThesis advisor
Visala, ArtoKeywords
MAV, system identification, MAV, quadcopter