Title :
An adaptive system identification method for a micro unmanned helicopter robot
Author :
ChaoLei, Wang ; XuSheng, Lei ; JianHong, Liang ; YongLiang, Wu ; TianMiao, Wang
Author_Institution :
Robot. Inst., Beihang Univ., Beijing, China
Abstract :
Focusing on the dynamic model parameter identification problem, this paper proposed an adaptive linear-time-domain system identification method for the micro unmanned helicopter robot. Based on the flash memory in the Micro Guide Navigation Control (MGNC), system recorded the flight data sequences regarding the input signal for servos and output signals for attitude and velocity information. Through the adaptive genetic algorithm, the system can construct the high precise dynamic state space model for the micro unmanned helicopter robot. Finally, the effectiveness of the identified model is verified by a series of simulation and tests. The micro unmanned helicopter robot can finish hover, turn, and straight flight tasks.
Keywords :
adaptive control; genetic algorithms; helicopters; microrobots; mobile robots; remotely operated vehicles; time-domain analysis; adaptive genetic algorithm; adaptive linear-time-domain system identification; adaptive system identification; attitude information; dynamic model parameter identification problem; dynamic state space model; flash memory; flight data sequences; microguide navigation control; microunmanned helicopter robot; velocity information; Adaptive systems; Aircraft navigation; Control systems; Flash memory; Helicopters; Orbital robotics; Parameter estimation; Robots; System identification; Velocity control; Micro Unmanned Helicopter Robot; adaptive genetic algorithm; dynamic space model; model identification;
Conference_Titel :
Robotics and Biomimetics (ROBIO), 2009 IEEE International Conference on
Conference_Location :
Guilin
Print_ISBN :
978-1-4244-4774-9
Electronic_ISBN :
978-1-4244-4775-6
DOI :
10.1109/ROBIO.2009.5420766
