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Modeling, system identification and validation of small rotorcraft-based unmanned aerial vehicle
Yang Fan, Xiong Xiao, Chen Zongji, Zhang Ping*
School of Automation Science and Electrical Engineering, Beijing University of Aeronautics and Astronautics, Beijing 100191, China

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Abstract�� In order to realize the flight control system of small rotorcraft-based unmanned aerial vehicles (RUAV), a precise dynamics model is needed. A time-domain system identification framework was presented for AF25B RUAV. The modeling process considered the influence of fuselage, main rotor/stabilizer bar system and coupled dynamic derivatives. Then the on-board sensor and control system were designed and configured. Based on the real flight data which gathered under the radio controlled(RC) hovering fly tests, a liner time-invariant system model was obtained through the time-domain system identification method. The identification result was analyzed and proved that model can reflect the dynamic characteristics in hovering condition fully.
Keywords�� rotorcraft-based unmanned aerial vehicle   time-domain system identification   stabilizer bar   dynamics model   model validation     
Received 2009-06-22;
About author: �� ��(1983-),��,�����ˣ���ʿ��,ronin_yang@sohu.com.
�, ��Ц, ���ڻ�, ��ƽ.��С��ֱ��������ѧģ�͵Ľ�ģ����ʶ����֤[J]  �������պ����ѧѧ��, 2010,V36(8): 913-917
Yang Fan, Xiong Xiao, Chen Zongji, Zhang Ping.Modeling, system identification and validation of small rotorcraft-based unmanned aerial vehicle[J]  JOURNAL OF BEIJING UNIVERSITY OF AERONAUTICS AND A, 2010,V36(8): 913-917
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