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
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;
Conference_Titel :
Advanced Robotics (ICAR), 2013 16th International Conference on
Conference_Location :
Montevideo
DOI :
10.1109/ICAR.2013.6766563
