Abstract
The objective of this paper is to present a system identification method suitable for miniature rotorcrafts under hovering. The proposed model to be identified is a Takagi-Sugeno fuzzy system, representing translational and rotational velocity dynamics. For parameter estimation of the Takagi-Sugeno system a classical Recursive Least Squares (RLS) algorithm is used, which allows identification to take place on-line since parameter updates are produced whenever a new measurement becomes available. The validity of this approach is tested using the X-Plane © flight simulator. Data obtained offer justification for the applicability of the approach in real-time applications.
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Raptis, I.A., Valavanis, K.P., Kandel, A. et al. System Identification for a Miniature Helicopter at Hover Using Fuzzy Models. J Intell Robot Syst 56, 345–362 (2009). https://doi.org/10.1007/s10846-009-9320-3
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DOI: https://doi.org/10.1007/s10846-009-9320-3