RUAV System Identification and Verification Using a Frequency-Domain Methodology

  • I. Sánchez
  • D. Santamaría
  • A. Viguria
  • Aníbal Ollero
  • Guillermo Heredia
Part of the Advances in Intelligent Systems and Computing book series (AISC, volume 252)


The aim of this paper is to show a methodology to obtain a model of a rotary wing UAV (Unmanned Aerial Vehicle) employing a frequency-domain System Identification (SYSID) methodology using CIFER®. The methodology is applied to the CB-5000 RUAV and discuss several identification issues, from the telemetry acquisition process, parametric model to be identified and identification technique, to finally validate and implement the model. The UAV’s real autopilot software is integrated with the CIFER® model showing a good behaviour without any change on the tuning of the real autopilot gains. In order to validate and compare the results, an alternative two rigid body kinematic model is presented. Finally, the models integrated with the autopilot are compared by using the experimental data of the real RUAV (Rotorcraft UAV) platform following the same flight plan.


UAV modelling and control Identification CIFER® UAV rotorcraft aircraft modelling and control 


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Copyright information

© Springer International Publishing Switzerland 2014

Authors and Affiliations

  • I. Sánchez
    • 2
  • D. Santamaría
    • 1
  • A. Viguria
    • 1
  • Aníbal Ollero
    • 2
  • Guillermo Heredia
    • 2
  1. 1.Center for Advanced Aerospace Technologies (CATEC)Parque Tecnológico y Aeronáutico de AndalucíaLa Rinconada SevilleSpain
  2. 2.Robotics, Vision and Control Group (GRVC)Universidad de SevillaSevillaSpain

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