SYSTEM IDENTIFICATION OF PARAMETER MODELSrnWITH APPLICATION TO UNMANNED AERIAL VEHICLE DYNAMICS

摘要

In this paper, the system identification to determine the mathematicalrnparameters of a plant based on observations on the plant is proposed. For arnpractical mechanical system, some parameters are too complicated to obtainrnfrom theoretical derivation. The system identification is a useful techniquernto reconstruct dynamic model for helicopters. There is variety of systemrnidentification algorithm suitable for different kinds of problem. In this paper,rnthe Levenberg Marquardt (LM) method is selected to identify the unmannedrnaerial vehicle dynamic. This methodology is then applied to the flightrnexperiment data. The ultimate goal of this project is to extend the currentrnwork to build a fully functional autonomous rotorcraft. Numericalrnsimulations are given to demonstrate the validity of our results.