Coevolutionary Modelling of a Miniature Rotorcraft.

Holland, Owen E and De Nardi, Renzo (2008) Coevolutionary Modelling of a Miniature Rotorcraft. In: Intelligent Autonomous Systems 10 (IAS10), Baden-Baden.

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Abstract

The paper considers the problem of synthesising accurate dynamic models of a miniature rotorcraft based on minimal physical assumptions, and using the models to develop a controller. The approach is based on the idea of building models that predict accelerations, and is implemented using evolutionary programming in a particularly efficient co-evolutionary framework. Both the structure and the parameters of the nonlinear models are jointly identified from real data. The modelling method is demonstrated and validated on a miniature quadrotor rotorcraft, and a controller based on the model is then developed and tested.

Item Type: Conference or Workshop Item (Paper)
Schools and Departments: School of Engineering and Informatics > Informatics
Depositing User: Owen Holland
Date Deposited: 06 Feb 2012 20:04
Last Modified: 13 Apr 2012 12:42
URI: http://sro.sussex.ac.uk/id/eprint/23829
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