System Identification for a Miniature Helicopter at Hover Using Fuzzy Models

Ioannis Raptis; Kimon P. Valavanis; Abraham Kandel; Wilfrido A. Moreno

doi:10.1007/s10846-009-9320-3

System Identification for a Miniature Helicopter at Hover Using Fuzzy Models

Ioannis Raptis
, Kimon P. Valavanis
, Abraham Kandel
, Wilfrido A. Moreno

Electrical and Computer Engineering

Research output: Contribution to journal › Article › peer-review

13 Scopus citations

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. © 2009 Springer Science+Business Media B.V.

Original language	English
Pages (from-to)	345-362
Number of pages	18
Journal	Journal of Intelligent and Robotic Systems: Theory and Applications
Volume	56
Issue number	3
DOIs	https://doi.org/10.1007/s10846-009-9320-3
State	Published - Mar 13 2009

Keywords

Estimation
Identification
Takagi-Sugeno fuzzy systems
Unmanned helicopter

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10.1007/s10846-009-9320-3

Cite this

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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 {\textcopyright} flight simulator. Data obtained offer justification for the applicability of the approach in real-time applications. {\textcopyright} 2009 Springer Science+Business Media B.V.",

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AU - Kandel, Abraham

AU - Moreno, Wilfrido A.

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AB - 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. © 2009 Springer Science+Business Media B.V.

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System Identification for a Miniature Helicopter at Hover Using Fuzzy Models

Abstract

Keywords

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