documentation of the state-space representation of the linearized model of the parrot minidrone

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michel chamoun 2021-3-25

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https://ww2.mathworks.cn/matlabcentral/answers/783098-documentation-of-the-state-space-representation-of-the-linearized-model-of-the-parrot-minidrone

评论： David Meixell 2021-9-24

Hello,

I am working on a project to implement an algorithm capable of detecting and isolating an actuator fault on the Parrot mambo minidrone. To do that, i need to know the state space representation of the linearized model of the mambo drone. I already got the matrices A, B, C, and D from the simulation on Simulink but how can i know the states, inputs, and outputs of the system? I believe that they added inputs to the "traditional linearized model of the drone" since the model takes into consideration the "air temperature", "MagneticField_ned" (what does that even mean?) etc.

Your help is much appreciated!!!

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David Meixell 2021-9-24

How familiar are you with SS representation? It sounds like you already have everything you need if you have the matricies figured out.

As for the two added inputs, they sound like sensors. Depending on what states you're observing, they may be irrelevant. The "NED" on Magnetic Field is the orientation- North, East, Down- for the field's frame.

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