Dynamical Model Identification for a Small-Scale Unmanned Helicopter Using an Integrated Approach

<table class="figure-group"><tr class="fig-image" id="a"><td><object data="https://static.hindawi.com/articles/ijae/volume-2019/8407013/figures/8407013.fig.007a.svgz" name="8407013.fig.007a" type="image/svg+xml"></object></td></tr><tr class="fig-caption"><td><b>(a) </b>Linear velocity <svg height="6.1673pt" id="M156" style="vertical-align:-0.2063904pt" version="1.1" viewbox="-0.0498162 -5.96091 7.11985 6.1673" width="7.11985pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"><g transform="matrix(.013,0,0,-0.013,0,0)"><path d="M515 96L502 119C471 88 431 62 423 62C416 62 411 70 417 101C440 223 469 341 497 448H486L412 422L380 277C330 188 210 57 152 57C137 57 126 69 139 124L195 366C210 431 205 448 182 448C155 448 89 413 23 350L36 326C73 354 103 376 112 376C118 376 118 365 113 340L61 118C54 90 52 68 52 51C52 0 75 -12 98 -12S151 -3 181 17C242 58 305 119 362 193H364L345 104C323 3 339 -12 359 -12C390 -12 464 35 515 96Z"></path></g></svg> response</td></tr><tr class="fig-image" id="b"><td><object data="https://static.hindawi.com/articles/ijae/volume-2019/8407013/figures/8407013.fig.007b.svgz" name="8407013.fig.007b" type="image/svg+xml"></object></td></tr><tr class="fig-caption"><td><b>(b) </b>Linear velocity <svg height="6.04987pt" id="M157" style="vertical-align:-0.2325001pt" version="1.1" viewbox="-0.0498162 -5.81737 5.98461 6.04987" width="5.98461pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"><g transform="matrix(.013,0,0,-0.013,0,0)"><path d="M219 86C216 168 211 250 206 337C201 410 189 448 163 448C131 448 79 396 43 344L60 322C91 359 110 375 118 375S132 358 136 298C141 238 152 81 155 -12H182C242 62 331 177 390 258C435 321 451 360 451 391C450 424 432 448 408 448C390 448 372 435 366 419C362 410 362 401 366 394C373 383 376 367 376 350C376 283 262 138 221 86H219Z"></path></g></svg> response</td></tr><tr class="fig-image" id="c"><td><object data="https://static.hindawi.com/articles/ijae/volume-2019/8407013/figures/8407013.fig.007c.svgz" name="8407013.fig.007c" type="image/svg+xml"></object></td></tr><tr class="fig-caption"><td><b>(c) </b>Linear velocity <svg height="6.1673pt" id="M158" style="vertical-align:-0.2063904pt" version="1.1" viewbox="-0.0498162 -5.96091 9.39034 6.1673" width="9.39034pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"><g transform="matrix(.013,0,0,-0.013,0,0)"><path d="M689 332C689 394 670 448 646 448C620 448 597 421 597 396C597 386 600 381 608 372C619 359 620 334 620 315C620 150 538 45 454 45C414 45 386 67 386 122C386 138 388 158 394 180L457 426L452 432L377 416L315 156C302 100 259 45 216 45C176 45 148 67 148 122C148 133 152 158 156 180C162 212 173 259 194 332C201 357 206 384 206 405C206 430 198 448 174 448C125 448 66 406 23 342L43 319C84 368 110 383 121 383C126 383 128 382 128 377C128 370 127 359 122 343C99 268 84 204 77 156C74 137 70 111 70 104C70 25 125 -12 180 -12C228 -12 276 12 319 50C338 8 378 -12 418 -12C549 -12 689 166 689 332Z"></path></g></svg> response</td></tr></table>

<div>Responses of the linear velocities.</div>

International Journal of Aerospace Engineering

fig7

Figure 7

Figure 7: Dynamical Model Identification for a Small-Scale Unmanned Helicopter Using an Integrated Approach 