The Modeling of Under-Actuated Small Unmanned Helicopter by Mechanism Analysis and Identification

T. Gao, J. Rao, Z. Gong, and J. Luo (PRC)


small unmanned helicopter, attitude model, system identification.


In this paper, the model of small helicopter is set up by the mechanism analysis and identification. Especially, this paper finds out the difference between full-size helicopter and small model helicopter and puts attention to the dynamic of the flybar which is the main stability of small helicopter. Firstly, the attitude model of a small under-actuated helicopter including some unknown parameters is set up. Secondly, prediction  error  method PEM   identification  method is adopted by using real flying data to identify above model. At last the valid of the identified attitude model is testified.

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