An improved model of the Quanser 3DoF Hover considering friction and gravity effects

This paper presents an improved model of the Quanser 3DoF Hover system. The improved nonlinear model explicitly incorporates friction and gravity effects, significantly reducing the mismatch between simulated data and experimental observations. Identification of system parameters is performed through two complementary approaches. The first is an empirical method involving laboratory experiments and manual tuning based on direct observation. The second employs a genetic algorithm, which optimises parameters by leveraging recorded data and minimising a quadratic cost function. Accuracy is subsequently validated through both simulations and real-time experiments under various input scenarios. Overall, the improved model offers a more accurate representation of Hover’s dynamics.