Nonlinear system identification of a small-scale unmanned helicopter

作者：Tang, Shuai^*; Zheng, Zhiqiang; Qian, Shaoke; Zhao, Xinye

来源：Control Engineering Practice, 2014, 25: 1-15.

DOI：10.1016/j.conengprac.2013.12.004

• Nonlinear model
• Small-scale helicopter
• System identification
• Genetic algorithm
• Flight experiment

This paper presents a comprehensive method for identifying the nonlinear model of a small-scale unmanned helicopter. The model structure is obtained by first principles derivation, and the model parameters are determined by direct measurement and system identification. A new adaptive genetic algorithm is proposed to identify the parameters that cannot be directly measured. To simplify the identification process, the overall system is. divided into two subsystems for identification: the heaveyaw dynamics and the lateral-longitudinal dynamics. On the basis of the input-output data collected from actual flight experiments, these two subsystems are identified using the proposed algorithm. The effectiveness of the identified model is verified by comparing the response of the simulation model with the actual response during the flight experiments. Results show that the identified model can accurately predict the response of the small-scale helicopter. Furthermore, the identified model is used for the design of an attitude controller. The experiment results show that the identified model is suitable for controller design.

• 出版日期2014-4
• 单位中国人民解放军国防科学技术大学