Explicit model identification and control of a micro aerial vehicle

In this work, we provide a nonlinear mathematical model identification methodology of an autonomous micro quadrotor, and the design of its orientation and position controllers. In the model identification, we specifically focus on the brushed D.C. motor dynamics, which further breaks down into three different segments: voltage generation, motor dynamics, and force/torque generation. Test bench experiments and software simulation are conducted to identify the parameters of the model derived from first principles physics model. Upon obtaining a good mathematical model of the micro quadrotor, model based orientation and position controllers are respectively implemented with linear quadratic regulator (LQR) and robust and perfect tracking (RPT) controller. The proposed control structure is designed and realized in a low cost micro quadrotor codenamed KayLion developed by the National University of Singapore.