Sökning: onr:"swepub:oai:DiVA.org:liu-170123" >
A sensor-to-sensor ...
A sensor-to-sensor model-based change detection approach for quadcopters
-
- Ho, Du, 1988- (författare)
- Linköpings universitet,Reglerteknik,Tekniska fakulteten
-
- Hendeby, Gustaf, Dr, 1978- (författare)
- Linköpings universitet,Reglerteknik,Tekniska fakulteten
-
- Enqvist, Martin, 1976- (författare)
- Linköpings universitet,Reglerteknik,Tekniska fakulteten
-
(creator_code:org_t)
- Elsevier, 2020
- 2020
- Engelska.
-
Ingår i: Proceedings of the 21st IFAC World Congress, 2020. - : Elsevier. ; , s. 712-717
- Relaterad länk:
-
https://liu.diva-por... (primary) (Raw object)
-
visa fler...
-
https://doi.org/10.1...
-
https://urn.kb.se/re...
-
https://doi.org/10.1...
-
visa färre...
Abstract
Ämnesord
Stäng
- This paper addresses the problem of change detection for a quadcopter in the presence ofwind disturbances. Different aspects of the quadcopter dynamics and various flight conditions have beeninvestigated. First, the wind is modeled using the Dryden wind model as a sum of a low-frequent and aturbulent part. Since the closed-loop control can compensate for system changes and disturbances andthe effect of the wind disturbance is significant, the residuals obtained from a standard simulation modelcan be misleading. Instead, a sensor-to-sensor submodel of the quadcopter is selected to detect a changein the payload using the Instrumental Variables (IV) cost function. It is shown that the mass variationcan be detected using the IV cost function in different flight scenarios.
Ämnesord
- TEKNIK OCH TEKNOLOGIER -- Elektroteknik och elektronik (hsv//swe)
- ENGINEERING AND TECHNOLOGY -- Electrical Engineering, Electronic Engineering, Information Engineering (hsv//eng)
Nyckelord
- sensor-to-sensor model
- change detection
- quadcopter
- instrumental variables
Publikations- och innehållstyp
- ref (ämneskategori)
- kon (ämneskategori)