An Adaptive System Identification Method for a Micro Unmanned Helicopter Robot

摘要：

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.

关键词： Micro Unmanned Helicopter Robot dynamic space model model identification adaptive genetic algorithm

作者: Wang ChaoLei Lei XuSheng Liang JianHong Wu YongLiang Wang TianMiao

作者单位: Robotics Institute,School of Mechanical Engineering and Automation School of Instrument Science and Opto-electronic Engineering Beihang University Beijing,China

会议类型: 国际会议

会议名称: 2009 IEEE International Conference on Robotics and Biomimetics(2009 IEEE 机器人与仿生技术国际会议 ROBIO 2009)

会议地点: 桂林

会议语种:英文

页码: 1093-1098

在线出版日期: 2009-12-19（万方平台首次上网日期，不代表论文的发表时间）