Quadrotor Black-Box System Identification

This paper presents a new approach in the identification of the quadrotor dynamic model using a black-box system for identification. Also the paper considers the problems which appear during the identification in the closed-loop and offers a technical solution for overcoming the correlation between the input noise present in the output

• Ionel Stanculeanu
• Theodor Borangiu

• System identification
• UAV
• prediction error method
• quadrotor.

[1] Anuj Puri , A Survey of Unmanned Aerial Vehicles (UAV) for Traffic
Surveillance, CiteSeerX - Scientific Literature Digital Library and
Search Engine (United States)
[2] M.C.L. Patterson, A. Mulligan, J. Douglas, J. Robinson and L. Wardell.
Volcano Surveillance by ACR Silver Fox, AIAA 2005 - 6954
[3] S. Bouabdallah, R. Siegwart, Full control of a quadrotor, Intelligent
Robots and Systems. IROS 2007. IEEE/RSJ International Conference
[4] P. Castillo, A. Dzul, R. Lozano, Real-time stabilization and tracking of
a four-rotor mini rotorcraft, Control Systems Technology, IEEE
Transactions, July 2004, pages: 510 - 516
[5] L. Ljung, System Identification: Theory for the User.2nd Edition,
Prentice Hall PTR 1999