Title :
Open loop system identification for a quadrotor helicopter system
Author :
Schreurs, R.J.A. ; Weiland, S. ; Tao, Hong ; Zhang, Qi ; Zhu, Junan ; Zhu, Yujia ; Xu, Changsheng
Author_Institution :
Dept. of Control Syst., Eindhoven Univ. of Technol., Eindhoven, Netherlands
Abstract :
This paper explains how the method of system identification can be applied to a quadrotor helicopter. First the first principles model is studied. The open-loop model is an unstable system, which is simulated using a closed-loop scheme. Then, a 12th order Auto Regressive Moving Average with eXogenous inputs (ARMAX) model is obtained based on the simulation data.
Keywords :
autonomous aerial vehicles; autoregressive moving average processes; closed loop systems; helicopters; open loop systems; 12th order ARMAX model; UAV; autoregressive moving average with exogenous inputs model; closed-loop scheme; first principles model; open loop system identification; quadrotor helicopter system; unmanned aerial vehicles; Atmospheric modeling; Data models; Equations; Helicopters; Mathematical model; Numerical models; Switches;
Conference_Titel :
Control and Automation (ICCA), 2013 10th IEEE International Conference on
Conference_Location :
Hangzhou
Print_ISBN :
978-1-4673-4707-5
DOI :
10.1109/ICCA.2013.6565145
