TY - GEN
T1 - An attitude modeling method for small-scale unmanned helicopter
AU - Pan, Yue
AU - Song, Ping
AU - Li, Kejie
AU - Wu, Jiangpeng
AU - Li, Beiguo
PY - 2012
Y1 - 2012
N2 - Attitude control is crucial for small-scale unmanned helicopter autonomous flight, and attitude model is the basis for attitude control. This paper presents an attitude modeling method for small-scale unmanned helicopter. First-principle approach is applied to analyze and construct the structural attitude model with consideration of the coupling effects between different channels. The PEM parameter estimation approach is adopted to identify the parameters of the model. Verification experiments are carried out to validate the model. The validation results show that the modeling method is effective and has high accuracy. The modeling method takes the coupling effects between yaw channel and other channels into account and combines the first-principle approach and the system identification approach.
AB - Attitude control is crucial for small-scale unmanned helicopter autonomous flight, and attitude model is the basis for attitude control. This paper presents an attitude modeling method for small-scale unmanned helicopter. First-principle approach is applied to analyze and construct the structural attitude model with consideration of the coupling effects between different channels. The PEM parameter estimation approach is adopted to identify the parameters of the model. Verification experiments are carried out to validate the model. The validation results show that the modeling method is effective and has high accuracy. The modeling method takes the coupling effects between yaw channel and other channels into account and combines the first-principle approach and the system identification approach.
KW - Attitude modeling
KW - Parameter estimation
KW - Small-scale unmanned helicopter
UR - http://www.scopus.com/inward/record.url?scp=84877775502&partnerID=8YFLogxK
U2 - 10.1049/cp.2012.0999
DO - 10.1049/cp.2012.0999
M3 - Conference contribution
AN - SCOPUS:84877775502
SN - 9781849195379
T3 - IET Conference Publications
SP - 390
EP - 393
BT - International Conference on Automatic Control and Artificial Intelligence, ACAI 2012
T2 - International Conference on Automatic Control and Artificial Intelligence, ACAI 2012
Y2 - 3 March 2012 through 5 March 2012
ER -