Corpus ID: 5737633

Dynamic System Identification, and Control for a cost effective open-source VTOL MAV

@article{Sa2017DynamicSI,
  title={Dynamic System Identification, and Control for a cost effective open-source VTOL MAV},
  author={Inkyu Sa and Mina Kamel and Raghav Khanna and Marija Popovic and Juan I. Nieto and Roland Y. Siegwart},
  journal={ArXiv},
  year={2017},
  volume={abs/1701.08623}
}
This paper describes dynamic system identification, and full control of a cost-effective vertical take-off and landing (VTOL) multi-rotor micro-aerial vehicle (MAV) --- DJI Matrice 100. The dynamics of the vehicle and autopilot controllers are identified using only a built-in IMU and utilized to design a subsequent model predictive controller (MPC). Experimental results for the control performance are evaluated using a motion capture system while performing hover, step responses, and trajectory… Expand
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