Title: Iterative parameter estimation and model prediction of a rotary unmanned aerial vehicle

Authors: Rejina L.W. Choi; Christopher E. Hann; XiaoQi Chen

Addresses: Mechatronics Research Laboratory, Mechanical Engineering Department, University of Canterbury, Christchurch 8041, New Zealand ' Electrical and Computer Engineering Department, University of Canterbury, Christchurch 8041, New Zealand ' Mechanical Engineering Department, University of Canterbury, Christchurch 8041, New Zealand

Abstract: This paper presents a method for identifying and predicting attitude dynamics in a rotary unmanned aerial vehicle (UAV). A base model which uses a first principles model is simplified for use in real-time prediction. An integral-based parameter identification method is presented to identify the unknown intrinsic helicopter parameters outdoors with significant wind disturbance and on a test bench. The yaw axis is used as a proof-of-concept on both the tests. For the outdoor flight, the system identification is performed using open-loop commands from a test pilot. The test-bench experiments use proportional integral derivative (PID) control and thus provide a further validation of the methods in closed-loop as well as open-loop. The results show that all the major yaw dynamics were captured and good future state predictions of 0.1 to 0.3 seconds were obtained using slow time varying parameters and disturbance modelling.

Keywords: rotary UAVs; unmanned aerial vehicles; minimal modelling; integral-based parameter identification; disturbance modelling; parameter estimation; model prediction; attitude dynamics; helicopter dynamics; helicopters; yaw axis; PID control; yaw dynamics; dynamic modelling.

DOI: 10.1504/IJISTA.2014.059301

International Journal of Intelligent Systems Technologies and Applications, 2014 Vol.13 No.1/2, pp.81 - 102

Published online: 13 Jul 2014 *

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