System identification of parameterized state-space model of a small scale UAV helicopter

• Main Authors: Ismaila B., Tijani, Akmeliawati, Rini, Legowo, Ari
• Format: Conference or Workshop Item
• Language: English
• Published: 2012
• Subjects: TJ212 Control engineering
• 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

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.