Model Identification and Active Modeling Control for Rotor Fly-robot: Theory and Experiment
旋翼飞行机器人系统建模与主动模型控制理论及实验研究

This paper proposes an active modeling control method, as well as a simplified reference model and a modified frequency identification process, to deal with the model mismatch, which brings errors to nominal controller. The hovering model is identified through the proposed semi-decoupled reference model and the modified frequency identification process. Based on this hovering model and adaptive set-membership filter (ASMF), a scheme of compensation for nominal controller is developed due to the unknown but bounded (UBB) model errors. Flight experiments are done on ServoHeli-40 fly-robot platform to verify the effectiveness of the proposed method in full flight envelope.