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Dynamics System Identification of Octorotor UAV: Lateral Directional and Longitudinal Modes

Riyanto T. Bambang

Abstract


This paper presents dynamics system identification of octorotor unmanned aircraft in hover condition. Measured signals obtained from 3-axis accelerometer, gyroscope, and magnetic compass are used as output data, while the rotor speed is viewed as input data for the octorotor dynamics system identification process. Structure of state space model for system identification is determined by making use of first principle model. Data analysis was performed with Matlab software. The system model of octorotor resulted from system identification will be used in the development of closed loop control system of the octorotor. Best fit of 65% -96%, and of 47% -96% were obtained for longitudinal and lateral dynamics, respectively. Best fit of 58,53% - 75,50% was obtained for the overall MIMO model, which improves model derived using first-principle modeling.

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DOI: http://dx.doi.org/10.21535%2FProICIUS.2011.v7.321

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