Experimental System Identification of a Small Unmanned Aerial Vehicle

In the synthesis of automatic controllers of an unmanned aerial vehicle (UAV) as for other dynamic moving vehicles, a mathematical model of motion should be used. Advanced utilization of the vehicle dynamics is only possible if a control system is designed considering as exact as possible characteristics of the vehicle. This paper aims to conduct a consequence of the systematic approach to identify a model identification of a small unmanned aerial vehicle in loitering flight, based on the input–output data collected from flight tests on a 1-m-sized model aircraft. A miniature system, which consists of the onboard Processing unit and sensory section, is equipped with a multichannel data logger associated with the data acquisition and estimation software. Because of the complex coupled, multivariable and nonlinear dynamics of the aircraft in general, the test flight is confined to loitering condition to develop linear SISO structures for both the lateral and longitudinal models. Using time domain system identification techniques, two fourth-order ARX (Auto Regressive with eXogenous input) models are successfully identified, and the performance analysis is carried out based on the flight test data. The validity of the identified model is verified by both time domain model prediction and frequency-domain response analysis.

کلیدواژه ها:

Small unmanned aerial vehicle (SUAV) ، Experimental system Identification ، Autoregressive withexogenous input (ARX) ، Data fusion ، Extended Kalman Filter