System Identification of a Small Scaled Helicopter using Simulated Annealing Algorithm

Biswas, Pranjal and Navaneethkrishnan, B and Anand, Gaotham and Omkar, SN (2018) System Identification of a Small Scaled Helicopter using Simulated Annealing Algorithm. In: 4th Indian Control Conference (ICC), JAN 04-06, 2018, Indian Inst Technol Kanpur, Kanpur, INDIA, pp. 335-339.

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Abstract

Developing an autonomous helicopter requires designing of precise controllers, which can be a daunting task if system dynamics are not known accurately. Thus very accurate system dynamics should be available to design controllers. The main idea of this paper is to present Simulated Annealing (SA) algorithm as a tool in time domain parametric system identification of a RC helicopter (Align T-Rex 550L). In addition, Prediction Error Minimization (PEM) and Genetic Algorithm (GA) have been taken as reference identification algorithms for the purpose of comparison. The work includes collecting flight data and pre-processing of the recorded data, and time domain parametric identification of state space system for hovering condition. The rigid body dynamics of the helicopter is represented in the state space form that has 40 parameters. The accuracy of the identified system is verified by comparing estimated and actual responses, by Pearson Correlation Coefficient, also 90% confidence interval is calculated for each of the identified parameters. Results show a high level of correlation of the actual responses and estimated responses of the system identified using SA, because of its ability to jump out of local optima.

Item Type:	Conference Paper
Publisher:	IEEE
Additional Information:	4th Indian Control Conference (ICC), Indian Inst Technol Kanpur, Kanpur, INDIA, JAN 04-06, 2018
Department/Centre:	Division of Mechanical Sciences > Aerospace Engineering(Formerly Aeronautical Engineering)
Date Deposited:	27 Feb 2019 09:30
Last Modified:	27 Feb 2019 09:30
URI:	http://eprints.iisc.ac.in/id/eprint/61854

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