Abstract
The aim of this paper is to show a methodology to obtain a model of a rotary wing UAV (Unmanned Aerial Vehicle) employing a frequency-domain System Identification (SYSID) methodology using CIFER®. The methodology is applied to the CB-5000 RUAV and discuss several identification issues, from the telemetry acquisition process, parametric model to be identified and identification technique, to finally validate and implement the model. The UAV’s real autopilot software is integrated with the CIFER® model showing a good behaviour without any change on the tuning of the real autopilot gains. In order to validate and compare the results, an alternative two rigid body kinematic model is presented. Finally, the models integrated with the autopilot are compared by using the experimental data of the real RUAV (Rotorcraft UAV) platform following the same flight plan.
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Sánchez, I., Santamaría, D., Viguria, A., Ollero, A., Heredia, G. (2014). RUAV System Identification and Verification Using a Frequency-Domain Methodology. In: Armada, M., Sanfeliu, A., Ferre, M. (eds) ROBOT2013: First Iberian Robotics Conference. Advances in Intelligent Systems and Computing, vol 252. Springer, Cham. https://doi.org/10.1007/978-3-319-03413-3_10
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DOI: https://doi.org/10.1007/978-3-319-03413-3_10
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