DocumentCode
1576711
Title
Modelling and Dynamic Identification of 3 DOF Quanser Helicopter
Author
Rajappa, Sujit ; Chriette, A. ; Chandra, Ranveer ; Khalil, Waleed
Author_Institution
Ecole Centrale de Nantes, LUNAM Univ., Nantes, France
fYear
2013
Firstpage
1
Lastpage
6
Abstract
The purpose of this paper is to develop the non-linear model of Quanser 3-DOF Helicopter [2]. The Dynamic Model is obtained using robotics notations [7] by considering the Helicopter as a tree structure robot composed of rigid links. Dynamic Identification Model is used to estimate the dynamic parameters of the Helicopter. This identification model is based on an Inverse dynamic model linear in the parameters.
Keywords
aerospace robotics; aircraft control; helicopters; mobile robots; robot dynamics; 3 DOF Quanser helicopter; dynamic identification model; dynamic parameter estimation; inverse dynamic model; modelling; nonlinear model; rigid links; robotics notations; tree structure robot; Biological system modeling; Helicopters; Joints; Mathematical model; Robots; Standards; Trajectory;
fLanguage
English
Publisher
ieee
Conference_Titel
Advanced Robotics (ICAR), 2013 16th International Conference on
Conference_Location
Montevideo
Type
conf
DOI
10.1109/ICAR.2013.6766563
Filename
6766563
Link To Document