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Authors: Damian Vigouroux ; Fares Beainy and Sesh Commuri

Affiliation: The University of Oklahoma, United States

ISBN: 978-989-8565-71-6

Keyword(s): Miniature Helicopter, Identification, Orientation Dynamics, State Space Model, Recurrent Neural Networks, IMU, AHRS.

Related Ontology Subjects/Areas/Topics: Informatics in Control, Automation and Robotics ; Mobile Robots and Autonomous Systems ; Modeling, Simulation and Architectures ; Robotics and Automation ; Signal Processing, Sensors, Systems Modeling and Control ; System Identification ; System Modeling

Abstract: Reliable operation of helicopters in hover mode is essential for carrying out missions of surveillance, reconnaissance, and deployment of communication networks in disaster hit areas, among many others. Achieving autonomous operation in hover mode requires the development of robust model-based controllers. In this paper, the use of linear and nonlinear models to identify the orientation dynamics of a small scale helicopter is addressed. A linear architecture that combines the input-output dynamics and perturbation-output dynamics is introduced in this paper. In contrast to the linear models that have been reported in the literature, no assumptions about decoupled roll-pitch-yaw axes are made in the proposed approach. The nonlinear model of orientation dynamics is identified using artificial recurrent neural networks. Verification of these models is performed using actual data collected during the flight of the helicopter. The results show that incorporating the perturbation dynamics i n the model can result in a description that can accurately predict the dynamics during actual flight conditions. (More)

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Paper citation in several formats:
Vigouroux, D.; Beainy, F. and Commuri, S. (2013). Identification of Orientation Dynamics of Miniature Helicopter in Hover Mode.In Proceedings of the 10th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO, ISBN 978-989-8565-71-6, pages 251-258. DOI: 10.5220/0004477102510258

@conference{icinco13,
author={Damian Vigouroux. and Fares Beainy. and Sesh Commuri.},
title={Identification of Orientation Dynamics of Miniature Helicopter in Hover Mode},
booktitle={Proceedings of the 10th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,},
year={2013},
pages={251-258},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0004477102510258},
isbn={978-989-8565-71-6},
}

TY - CONF

JO - Proceedings of the 10th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,
TI - Identification of Orientation Dynamics of Miniature Helicopter in Hover Mode
SN - 978-989-8565-71-6
AU - Vigouroux, D.
AU - Beainy, F.
AU - Commuri, S.
PY - 2013
SP - 251
EP - 258
DO - 10.5220/0004477102510258

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