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Crazyflie 2.1 Quadcopter Nonlinear System Identification, Nhat V. Nguyen, Hope Storro, John Plimpton
Crazyflie 2.1 Quadcopter Nonlinear System Identification, Nhat V. Nguyen, Hope Storro, John Plimpton
2023 Symposium
Quadcopters (quad) are used widely in many industries with crucial applications such as infrastructure inspection or package delivery. The Crazyflie 2.1 quad from Bitcraze provides an excellent platform for research and development. In this project, our goal is to perform system identification on the Crazyflie to propose a complete model. A gray box method is explored, which includes leveraging the parameters that are already known, to develop a set of equations. Through theory, simulations, and measurements, a complete quadcopter model is developed.