TY - GEN
T1 - Attitude dynamics modeling of a small-scale unmanned helicopter
AU - Pan, Yue
AU - Song, Ping
AU - Li, Kejie
AU - Wang, Yun
AU - Wang, Xiaoyue
PY - 2012
Y1 - 2012
N2 - The attitude dynamics model is the basis for attitude control and the attitude model is very complex because the small-scale unmanned helicopter is a multivariable, nonlinear, time-varying, strong-coupling system. To reduce the complexity of the attitude model, a simplified attitude dynamics model for small-scale unmanned helicopter in hover or low speed forward flight was presented. Firstly, the linear model with unknown parameters was determined by first-principle approach and small perturbation theory. Secondly, the PEM system identification approach was used to identify the parameters of the model. The validity of the attitude model was verified using experimental data obtained in real flight. The validation results showed the effectiveness and high accuracy of the modeling method. The attitude modeling method combines the advantages of first-principle method and system identification method. The model has simple structure, it is easy to implement and can be conveniently applied in other unmanned aerial vehicles.
AB - The attitude dynamics model is the basis for attitude control and the attitude model is very complex because the small-scale unmanned helicopter is a multivariable, nonlinear, time-varying, strong-coupling system. To reduce the complexity of the attitude model, a simplified attitude dynamics model for small-scale unmanned helicopter in hover or low speed forward flight was presented. Firstly, the linear model with unknown parameters was determined by first-principle approach and small perturbation theory. Secondly, the PEM system identification approach was used to identify the parameters of the model. The validity of the attitude model was verified using experimental data obtained in real flight. The validation results showed the effectiveness and high accuracy of the modeling method. The attitude modeling method combines the advantages of first-principle method and system identification method. The model has simple structure, it is easy to implement and can be conveniently applied in other unmanned aerial vehicles.
KW - Attitude model
KW - First-principle
KW - Parameter estimation
KW - Small-scale unmanned helicopter
UR - http://www.scopus.com/inward/record.url?scp=84869446807&partnerID=8YFLogxK
U2 - 10.1109/ICADE.2012.6330104
DO - 10.1109/ICADE.2012.6330104
M3 - Conference contribution
AN - SCOPUS:84869446807
SN - 9781467313322
T3 - Proceedings - 2012 IEEE International Conference on Intelligent Control, Automatic Detection and High-End Equipment, ICADE 2012
SP - 84
EP - 88
BT - Proceedings - 2012 IEEE International Conference on Intelligent Control, Automatic Detection and High-End Equipment, ICADE 2012
T2 - 2012 IEEE International Conference on Intelligent Control, Automatic Detection and High-End Equipment, ICADE 2012
Y2 - 27 July 2012 through 29 July 2012
ER -