An adaptive system identification method for a micro unmanned helicopter robot

Chao Lei Wang; Xu Sheng Lei; Jian Hong Liang; Yong Liang Wu; Tian Miao Wang

doi:10.1109/ROBIO.2009.5420766

An adaptive system identification method for a micro unmanned helicopter robot

Chao Lei Wang^*
, Xu Sheng Lei
, Jian Hong Liang
, Yong Liang Wu
, Tian Miao Wang

^*Corresponding author for this work

School of Instrumentation and Optoelectronic Engineering

School of Mechanical Engineering and Automation

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

1 Scopus citations

Abstract

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.

Original language	English
Title of host publication	2009 IEEE International Conference on Robotics and Biomimetics, ROBIO 2009
Pages	1093-1098
Number of pages	6
DOIs	https://doi.org/10.1109/ROBIO.2009.5420766
State	Published - 2009
Event	2009 IEEE International Conference on Robotics and Biomimetics, ROBIO 2009 - Guilin, China Duration: 19 Dec 2009 → 23 Dec 2009

Publication series

Name	2009 IEEE International Conference on Robotics and Biomimetics, ROBIO 2009

Conference

Conference	2009 IEEE International Conference on Robotics and Biomimetics, ROBIO 2009
Country/Territory	China
City	Guilin
Period	19/12/09 → 23/12/09

Keywords

Adaptive genetic algorithm
Dynamic space model
Micro unmanned helicopter robot
Model identification

Access to Document

10.1109/ROBIO.2009.5420766

Cite this

Wang, C. L., Lei, X. S., Liang, J. H., Wu, Y. L., & Wang, T. M. (2009). An adaptive system identification method for a micro unmanned helicopter robot. In 2009 IEEE International Conference on Robotics and Biomimetics, ROBIO 2009 (pp. 1093-1098). Article 5420766 (2009 IEEE International Conference on Robotics and Biomimetics, ROBIO 2009). https://doi.org/10.1109/ROBIO.2009.5420766

@inproceedings{ad2ce858ebda4d2989a5a449c2c5207c,

title = "An adaptive system identification method for a micro unmanned helicopter robot",

abstract = "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.",

keywords = "Adaptive genetic algorithm, Dynamic space model, Micro unmanned helicopter robot, Model identification",

author = "Wang, \{Chao Lei\} and Lei, \{Xu Sheng\} and Liang, \{Jian Hong\} and Wu, \{Yong Liang\} and Wang, \{Tian Miao\}",

year = "2009",

doi = "10.1109/ROBIO.2009.5420766",

language = "英语",

isbn = "9781424447756",

series = "2009 IEEE International Conference on Robotics and Biomimetics, ROBIO 2009",

pages = "1093--1098",

booktitle = "2009 IEEE International Conference on Robotics and Biomimetics, ROBIO 2009",

note = "2009 IEEE International Conference on Robotics and Biomimetics, ROBIO 2009 ; Conference date: 19-12-2009 Through 23-12-2009",

}

Wang, CL, Lei, XS , Liang, JH, Wu, YL & Wang, TM 2009, An adaptive system identification method for a micro unmanned helicopter robot. in 2009 IEEE International Conference on Robotics and Biomimetics, ROBIO 2009., 5420766, 2009 IEEE International Conference on Robotics and Biomimetics, ROBIO 2009, pp. 1093-1098, 2009 IEEE International Conference on Robotics and Biomimetics, ROBIO 2009, Guilin, China, 19/12/09. https://doi.org/10.1109/ROBIO.2009.5420766

An adaptive system identification method for a micro unmanned helicopter robot. / Wang, Chao Lei; Lei, Xu Sheng ; Liang, Jian Hong et al.
2009 IEEE International Conference on Robotics and Biomimetics, ROBIO 2009. 2009. p. 1093-1098 5420766 (2009 IEEE International Conference on Robotics and Biomimetics, ROBIO 2009).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - An adaptive system identification method for a micro unmanned helicopter robot

AU - Wang, Chao Lei

AU - Lei, Xu Sheng

AU - Liang, Jian Hong

AU - Wu, Yong Liang

AU - Wang, Tian Miao

PY - 2009

Y1 - 2009

N2 - 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.

AB - 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.

KW - Adaptive genetic algorithm

KW - Dynamic space model

KW - Micro unmanned helicopter robot

KW - Model identification

UR - https://www.scopus.com/pages/publications/77951443553

U2 - 10.1109/ROBIO.2009.5420766

DO - 10.1109/ROBIO.2009.5420766

M3 - 会议稿件

AN - SCOPUS:77951443553

SN - 9781424447756

T3 - 2009 IEEE International Conference on Robotics and Biomimetics, ROBIO 2009

SP - 1093

EP - 1098

BT - 2009 IEEE International Conference on Robotics and Biomimetics, ROBIO 2009

T2 - 2009 IEEE International Conference on Robotics and Biomimetics, ROBIO 2009

Y2 - 19 December 2009 through 23 December 2009

ER -

An adaptive system identification method for a micro unmanned helicopter robot

Abstract

Publication series

Conference

Keywords

Access to Document

Other files and links

Fingerprint

Cite this