System identification of parameterized state-space model of a small scale UAV helicopter
The success of model-based ight control law design for autonomous helicopter is largely dependent on the availability of reliable model of the system. Considering the complexity of the helicopter dynamics, and inherent di�culty involves with physical measurement of the system parameters, the gr...
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| Main Authors: | , , |
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| Format: | Conference or Workshop Item |
| Language: | English |
| Published: |
2012
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| Subjects: | |
| Online Access: | http://irep.iium.edu.my/25614/1/MTNS2012_0290_paper.pdf http://irep.iium.edu.my/25614/ http://www.mtns2012.conference.net.au/Full%20Paper/MTNS2012_0290_paper.pdf |
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| Summary: | The success of model-based
ight control law design for autonomous helicopter is
largely dependent on the availability of reliable model of the system. Considering the complexity of
the helicopter dynamics, and inherent di�culty involves with physical measurement of the system
parameters, the grey modeling approach which involves the development of parameterized model from
�rst principles and estimation of these parameters using system identi�cation (sysID) technique has
been proposed in the literatures. Prediction Error Modeling (PEM) algorithm has been identi�ed
as an e�ective system identi�cation technique. However, application of this method to complex
system like helicopter is not a trivial exercise due to inherent coupling in the system states and
the challenges associated with parameter initialization in PEM algorithm. In this work, an e�ective
procedure in application of PEM algorithm available in MATLAB toolbox is presented for small scale
helicopter using real-time
ight data. The approach was able to yield satisfactory model suitable for
model-based
ight control design. |
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