System identification of parameterized state-space model of a small scale UAV helicopter
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 gr...
| Main Authors: | , , |
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| Format: | Proceeding Paper |
| Language: | English |
| Published: |
2012
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| Subjects: | |
| Online Access: | http://irep.iium.edu.my/25614/1/MTNS2012_0290_paper.pdf |
| _version_ | 1825646771221561344 |
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| author | Ismaila B., Tijani Akmeliawati, Rini Legowo, Ari |
| author_facet | Ismaila B., Tijani Akmeliawati, Rini Legowo, Ari |
| author_sort | Ismaila B., Tijani |
| collection | IIUM |
| description | 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. |
| first_indexed | 2024-03-05T23:07:33Z |
| format | Proceeding Paper |
| id | oai:generic.eprints.org:25614 |
| institution | International Islamic University Malaysia |
| language | English |
| last_indexed | 2024-03-13T18:57:33Z |
| publishDate | 2012 |
| record_format | dspace |
| spelling | oai:generic.eprints.org:256142012-08-30T03:14:00Z http://irep.iium.edu.my/25614/ System identification of parameterized state-space model of a small scale UAV helicopter Ismaila B., Tijani Akmeliawati, Rini Legowo, Ari TJ212 Control engineering 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. 2012 Proceeding Paper PeerReviewed application/pdf en http://irep.iium.edu.my/25614/1/MTNS2012_0290_paper.pdf 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. http://www.mtns2012.conference.net.au/Full%20Paper/MTNS2012_0290_paper.pdf |
| spellingShingle | TJ212 Control engineering Ismaila B., Tijani Akmeliawati, Rini Legowo, Ari System identification of parameterized state-space model of a small scale UAV helicopter |
| title | System identification of parameterized state-space model of a small scale UAV helicopter |
| title_full | System identification of parameterized state-space model of a small scale UAV helicopter |
| title_fullStr | System identification of parameterized state-space model of a small scale UAV helicopter |
| title_full_unstemmed | System identification of parameterized state-space model of a small scale UAV helicopter |
| title_short | System identification of parameterized state-space model of a small scale UAV helicopter |
| title_sort | system identification of parameterized state space model of a small scale uav helicopter |
| topic | TJ212 Control engineering |
| url | http://irep.iium.edu.my/25614/1/MTNS2012_0290_paper.pdf |
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