System identification for an autonomous quadrotor using extended and unscented kalman filters

Abas, Norafizah and Legowo, Ari and Akmeliawati, Rini (2011) System identification for an autonomous quadrotor using extended and unscented kalman filters. In: 11th International Conference on Control, Automation and Systems, Oct. 26-29, 2011, Gyeonggi-do, Korea.

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Abstract

This paper presents aerodynamic parameters estimation techniques for an autonomous quadrotor through the implementation of Extended Kalman Filter (EKF) and Unscented Kalman Filter (UKF). EKF and UKF have known to be typical estimation techniques used to estimate the state vectors and parameters of nonlinear dynamical systems. In this paper, three main processes are highlighted; dynamic modeling of the quadrotor, the implementation of EKF and the implementation of UKF algorithms. The aim is to identify and estimate the needed parameters for an autonomous quadrotor. The obtained results demonstrate the performances of EKF and UKF based on the flight test applied to the quadrotor system.

Item Type:	Conference or Workshop Item (Full Paper)
Additional Information:	(5806/14162 (Proceeding of the 11th International Conference on Control, Automation and Systems))
Uncontrolled Keywords:	Extended Kalman Filter (EKF); 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 Mechatronics Engineering
Depositing User:	Prof. Dr. Rini Akmeliawati
Date Deposited:	09 Jan 2012 15:24
Last Modified:	09 Jan 2012 15:24
URI:	http://irep.iium.edu.my/id/eprint/14162

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