A Linear Domain System Identification for Small Unmanned Aerial Rotorcraft Based on Adaptive Genetic Algorithm-中国期刊网

摘要 Thispaperproposesanewadaptivelineardomainsystemidentificationmethodforsmallunmannedaerialrotorcraft.Byusingtheflashmemoryintegratedintothemicroguidenavigationcontrolmodule,systemrecordsthedatasequencesofflighttestsasinputs(controlsignalsforservos)andoutputs(aircraft’sattitudeandvelocityinformation).Afterdatapreprocessing,thesystemconstructsthehorizontalandverticaldynamicmodelforthesmallunmannedaerialrotorcraftusingadaptivegeneticalgorithm.Theidentifiedmodelisverifiedbyaseriesofsimulationsandtests.Comparisonbetweenflightdataandtheone-steppredictiondataobtainedfromtheidentificationmodelshowsthatthedynamicmodelhasagoodestimationforrealunmannedaerialrotorcraftsystem.Basedontheproposeddynamicmodel,thesmallunmannedaerialrotorcraftcanperformhovering,turning,andstraightflighttasksinrealflighttests.

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A Linear Domain System Identification for Small Unmanned Aerial Rotorcraft Based on Adaptive Genetic Algorithm

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A Linear Domain System Identification for Small Unmanned Aerial Rotorcraft Based on Adaptive Genetic Algorithm

来源期刊

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