System Identification of the Joker-3 Unmanned Helicopter

Al-Radaideh, Amer; Jhemi, Ali; Al‐Jarrah, Mohammad

doi:10.2514/6.2012-4725

Cited by 4 publications

(4 citation statements)

References 5 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…In order to compute accurate motor thrust forces using the PWM signals, we present a system-identification strategy in this section to obtain function f * in Equation ( 19) [39]. The system identification process has to go through a few steps to generate f * that maps the input PWM signals to the total motor thrust [13,14,[40][41][42]. The first step is to design flight experiments to collect the data with sufficient accuracy and duration.…”

Section: System Identification For Motor Coefficientsmentioning

confidence: 99%

Self-Localization of Tethered Drones without a Cable Force Sensor in GPS-Denied Environments

Al-Radaideh¹,

Sun²

2021

Drones

Self Cite

View full text Add to dashboard Cite

This paper considers the self-localization of a tethered drone without using a cable-tension force sensor in GPS-denied environments. The original problem is converted to a state-estimation problem, where the cable-tension force and the three-dimensional position of the drone with respect to a ground platform are estimated using an extended Kalman filter (EKF). The proposed approach uses the data reported by the onboard electric motors (i.e., the pulse width modulation (PWM) signals), accelerometers, gyroscopes, and altimeter, embedded in the commercial-of-the-shelf (COTS) inertial measurement units (IMU). A system-identification experiment was conducted to determine the model that computes the drone thrust force using the PWM signals. The proposed approach was compared with an existing work that assumes known cable-tension force. Simulation results show that the proposed approach produces estimates with less than 0.3-m errors when the actual cable-tension force is greater than 1 N.

show abstract

Section: System Identification For Motor Coefficientsmentioning

confidence: 99%

Self-Localization of Tethered Drones without a Cable Force Sensor in GPS-Denied Environments

Al-Radaideh¹,

Sun²

2021

Drones

Self Cite

View full text Add to dashboard Cite

show abstract

“…In [8], the generation of forces and moments from the main and tail rotor was derived. In [9], the system identification of the Joker 3 helicopter was obtained. An identified dynamic model was presented for the Yamaha R-50 unmanned helicopter in [10].…”

Section: Figure 1 Maxi Joker 3 Flybarless Helicoptermentioning

confidence: 99%

“…A system identification process of the Joker 3 helicopter was performed in [9] to identify the helicopter's parameters. Along with parameters defined in the datasheet of the Joker 3 helicopter, the overall parameters of the Joker 3 helicopter are shown in Table 1.…”

Section: Joker 3 Parameter Identificationmentioning

confidence: 99%

Attitude and Flapping Angles Estimation for a Small-Scale Flybarless Helicopter Using a Kalman Filter

2015

View full text Add to dashboard Cite

Unmanned aerial helicopters are essential for use in environments that are inaccessible for fixed wing aerial vehicles. Flybarless helicopters are famous for their high agility and maneuverability, which makes them suitable platforms in many challenging applications. This paper is concerned with the problem of estimating attitude and flapping angles of a flybarless, small-scale, single-rotor helicopter. The study utilizes a nonlinear model for the Maxi Joker 3 helicopter. A dynamic model-based Kalman filter is designed and implemented to estimate both the attitude and the flapping angles of the helicopter. Results of a simulation scenario are shown to validate the performance of the proposed approach. The results demonstrate high-accuracy flapping angles estimation with errors not exceeding,│Δ max │,0.3° in longitudinal flapping angles and 0.1° in lateral flapping angles. An experimental test is also conducted to demonstrate the performance of the method.

show abstract

“…In [5], the generation of forces and moments from the main and tail rotor was derived. In [6], the system identification of the Joker 3 helicopter was obtained.…”

Section: Introductionmentioning

confidence: 99%