Data-Based MHE for Agile Quadrotor Flight
Wonoo Choo,Erkan Kayacan,Wonoo Choo,Erkan Kayacan
This paper develops a data-based moving horizon estimation (MHE) method for agile quadrotors. Accurate state estimation of the system is paramount for precise trajectory control for agile quadrotors; however, the high level of aerodynamic forces experienced by the quadrotors during high-speed flights make this task extremely challenging. These complex turbulent effects are difficult to model and t...
