An Adaptive System Identification Method for a Micro Unmanned Helicopter Robot

被引：0
|
作者：
Wang ChaoLei [1 ]
Lei XuSheng [2 ]
Liang JianHong [1 ]
Wu YongLiang [1 ]
Wang TianMiao [1 ]
机构：
[1] Beihang Univ, Inst Robot, Sch Mech Engn & Automat, Beijing, Peoples R China
[2] Beihang Univ, Sch Instrument Sci & Opto elect Engn, Beijing, Peoples R China
来源：
2009 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS (ROBIO 2009), VOLS 1-4 | 2009年
关键词：
Micro Unmanned Helicopter Robot; dynamic space model; model identification; adaptive genetic algorithm; MODEL IDENTIFICATION;
D O I：
暂无
中图分类号：
TP18 [人工智能理论];
学科分类号：
081104 ; 0812 ; 0835 ; 1405 ;
摘要：
Focusing on the dynamic model parameter identification problem, this paper proposed an adaptive linear-time-domain system identification method for the micro unmanned helicopter robot. Based on the flash memory in the Micro Guide Navigation Control (MGNC), system recorded the flight data sequences regarding the input signal for servos and output signals for attitude and velocity information. Through the adaptive genetic algorithm, the system can construct the high precise dynamic state space model for the micro unmanned helicopter robot. Finally, the effectiveness of the identified model is verified by a series of simulation and tests. The micro unmanned helicopter robot can finish hover, turn, and straight flight tasks.
引用
收藏
页码：1093 / +
页数：2
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