Development of a system identification routine, with prediction reliability estimates, suitable for modelling high-speed and aggressive quadrotor flight outdoors: Using only on-board sensors

As research endeavours and commercial applications demand more of the quadrotor, it is only natural to develop models which can facilitate this. Currently, analytical descriptions of the quadrotor are rudimentary and most data-driven quadrotor models are identified from flight data collected indoors. Therefore, existing quadrotor models are...

Selecting Informative Data Samples for Model Learning Through Symbolic Regression

Continual model learning for nonlinear dynamic systems, such as autonomous robots, presents several challenges. First, it tends to be computationally expensive as the amount of data collected by the robot quickly grows in time. Second, the model accuracy is impaired when data from repetitive motions prevail in the training set and outweigh...

Effects of Target Signal Shape and System Dynamics on Feedforward in Manual Control

The human controller (HC) in manual control of a dynamical system often follows a visible and predictable reference path (target). The HC can adopt a control strategy combining closed-loop feedback and an open-loop feedforward response. The effects of the target signal waveform shape and the system dynamics on the human feedforward dynamics...

Effects of Preview Time in Manual Tracking Tasks

In manual control tasks, preview of the target trajectory ahead is often limited by poor lighting, objects, or display edges. This paper investigates the effects of limited preview, or preview time, in manual tracking tasks with single- and double-integrator controlled element dynamics. A quasi-linear human controller model is used to predict...

Non-intrusive Methods for Mode Estimation in Power Systems using Synchrophasors

The power system industry has been going through dynamic infrastructural and operational changes in recent years that have caused more prominent lightly damped electromechanical oscillations. Real-time monitoring of electromechanical oscillations is of great significance for power system operators; to this aim, software solutions (algorithms)...

Linear parameter-varying model identification for flutter prediction

Flutter-induced vibrations can easily cause large structures like airplanes and bridges to fail, which even today makes flutter prediction an important topic of research. To predict flutter, recursive system identification can be used to capture the time-varying behavior using time-invariant techniques combined with the forgetting of old data....