Tootfinder

Data-Driven System Identification of Quadrotors Subject to Motor Delays
Jonas Eschmann, Dario Albani, Giuseppe Loianno
https://arxiv.org/abs/2404.07837 htt…

Data-Driven System Identification of Quadrotors Subject to Motor Delays
Recently non-linear control methods like Model Predictive Control (MPC) and Reinforcement Learning (RL) have attracted increased interest in the quadrotor control community. In contrast to classic control methods like cascaded PID controllers, MPC and RL heavily rely on an accurate model of the system dynamics. The process of quadrotor system identification is notoriously tedious and is often pursued with additional equipment like a thrust stand. Furthermore, low-level details like motor delays…