Identification of Multirotor Actuator Dynamics with RPM Feedback for Improved Control

Multi-rotor actuator dynamics modeling spans from idealized to complex representations, often simplifying actuator nonlinearity. In the context of aerial manipulation, precise actuation is crucial. To address this, we introduce a nonlinear actuator model with an adaptable input definition and a variable-resolution rotor RPM measurement algorithm for feedback control. Our study addresses challenges posed by commercial ESCs designed for manual control. Further, we propose and validate a method to identify the non-linear model parameters by connecting them to the linearized small perturbation first order models. The paper encompasses an overview of the experimental setup, measurement algorithm, input definition, parameter identification, and validation.