Parameter identification of an autonomous quadrotor

Abas, Norafizah and Legowo, Ari and Akmeliawati, Rini (2011) Parameter identification of an autonomous quadrotor. In: 2011 4th International Conference on Mechatronics: Integrated Engineering for Industrial and Societal Development (ICOM 2011), 17-19 May, 2011, Kuala Lumpur, Malaysia.

PDF (Parameter identification of an autonomous quadrotor) - Published Version Restricted to Repository staff only Download (407kB) | Request a copy

Abstract

This paper describes one of possible parameter identification approach for a quadrotor. The unknown parameter of the quadrotor will be identified using state estimation method with the implementation of Unscented Kalman Filter (UKF). In the identification of state and parameter for nonlinear dynamic system, UKF has grown to be superior techniques. Two main processes highlighted in this paper are dynamic modeling of quadrotor and the implementation of UKF algorithm. The aim is to identify and estimate the needed parameters for an autonomous quadrotor. The obtained results demonstrate the performance of UKF based on the flight test applied to the quadrotor system.

Item Type:	Conference or Workshop Item (Full Paper)
Additional Information:	5334/5390
Uncontrolled Keywords:	Unscented Kalman Filter (UKF); State and Parameter Estimation; Autonomous Quadrotor
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 Mechanical Engineering Kulliyyah of Engineering > Department of Mechatronics Engineering
Depositing User:	Prof. Dr. Rini Akmeliawati
Date Deposited:	02 Nov 2011 17:17
Last Modified:	08 May 2012 09:13
URI:	http://irep.iium.edu.my/id/eprint/5390

Actions (login required)

View Item