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

Ismaila B., Tijani and Akmeliawati, Rini and Legowo, Ari (2012) System identification of parameterized state-space model of a small scale UAV helicopter. In: The 20th International Symposium on Mathematical Theory of Networks and Systems (MTNS), 9–13 July 2012, Melbourne, Australia.

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Abstract

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.

Item Type:	Conference or Workshop Item (Full Paper)
Additional Information:	5806/25614
Uncontrolled Keywords:	system identification, modeling, prediction-error modeling
Subjects:	T Technology > TJ Mechanical engineering and machinery > TJ212 Control engineering
Kulliyyahs/Centres/Divisions/Institutes (Can select more than one option. Press CONTROL button):	Kulliyyah of Engineering > Department of Mechatronics Engineering
Depositing User:	Prof. Dr. Rini Akmeliawati
Date Deposited:	30 Aug 2012 11:14
Last Modified:	30 Aug 2012 11:14
URI:	http://irep.iium.edu.my/id/eprint/25614

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