Abstract
In this paper, a model of lifting force generation system in order to perform the lifting control 4-axis aircraft is proposed. In the prior study, since it is assumed that lifting force of 4-axis aircraft can be generated by algebraic are addition and subtraction of motor duty ratio value, and time delay and coupling of dynamics are ignored. However, the ignored elements may deteriorate the performance of the actual system. In this study, I propose a model of lifting force generation system that identified on the basis of experimental data obtained by the lifting force measurement device. Finally, we perform lifting force tracking experiment by using this model.
