Title :
Modeling a Small-size Unmanned Helicopter Using Optimal Estimation in The Frequency Domain
Author :
Song, Dalei ; Qi, Juntong ; Dai, Lei ; Han, Jianda ; Liu, Guangjun
Author_Institution :
State Key Lab. of Robot., Chinese Acad. Sci., Shenyang
Abstract :
In this paper, a semi-decoupled state space model of a small-size helicopter is developed for hovering conditions in order to simplify the model identification process. An optimal estimation algorithm in frequency domain is proposed and implemented to estimate the parameters in the state space model using real flight data collected from a SERVOHELI-40 small-size unmanned helicopter. The accuracy of the identified model is verified by simulation in time domain, using a different set of hovering flight data. The results have shown the accuracy of the developed semi-decoupled model and the effectiveness of the proposed optimal estimation algorithm in frequency domain.
Keywords :
helicopters; remotely operated vehicles; state-space methods; SERVOHELI-40; hovering conditions; model identification process; semidecoupled state space model; small-size unmanned helicopter model; Cost function; Frequency domain analysis; Frequency estimation; Helicopters; Parameter estimation; Robotics and automation; State estimation; State-space methods; System identification; Vehicle dynamics; frequency domain; helicopter model; hover; optimal estimation; small-size unmanned helicopter;
Conference_Titel :
Mechatronics and Machine Vision in Practice, 2008. M2VIP 2008. 15th International Conference on
Conference_Location :
Auckland
Print_ISBN :
978-1-4244-3779-5
Electronic_ISBN :
978-0-473-13532-4
DOI :
10.1109/MMVIP.2008.4749514
