State-space identification of unmanned helicopter dynamics using invasive weed optimization algorithm on flight data

Navaneethkrishnan, B and Biswas, P and Kumaar, S and Anand, G and Omkar, SN (2017) State-space identification of unmanned helicopter dynamics using invasive weed optimization algorithm on flight data. In: 6th Asian-Australian Rotorcraft Forum and Heli Japan 2017, ARF 2017, 7 - 9 November 2017, Kanazawa, Ishikawa.

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Abstract

In order to achieve a good level of autonomy in unmanned helicopters, an accurate replication of vehicle dynamics is required, which is achievable through precise mathematical modeling. This paper aims to identify a parametric state-space system for an unmanned helicopter to a good level of accuracy using Invasive Weed Optimization (IWO) algorithm. The flight data of Align TREX 550 flybarless helicopter is used in the identification process. The rigid-body dynamics of the helicopter is modeled in a state-space form that has 40 parameters, which serve as control variables for the IWO algorithm. The results after 1000 iterations were compared with the traditionally used Prediction Error Minimization (PEM) method and also with Genetic Algorithm (GA), which serve as references. Results show a better level of correlation of the actual and estimated responses of the system identified using IWO to that of PEM and GA.

Item Type:	Conference Paper
Publication:	6th Asian-Australian Rotorcraft Forum and Heli Japan 2017, ARF 2017
Publisher:	American Helicopter Society International
Additional Information:	The copyright for this article belongs to American Helicopter Society International.
Keywords:	Genetic algorithms; Helicopters; Rotors; State space methods; Unmanned aerial vehicles (UAV), Identification process; Invasive weed optimization; Invasive Weed Optimization algorithms; Level of autonomies; Prediction error minimizations; Rigidbody dynamics; State space systems; Unmanned helicopter, Parameter estimation
Department/Centre:	Division of Mechanical Sciences > Aerospace Engineering(Formerly Aeronautical Engineering)
Date Deposited:	18 Jul 2022 09:44
Last Modified:	18 Jul 2022 09:44
URI:	https://eprints.iisc.ac.in/id/eprint/74648

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