Modeling, system identification and PID-A controller for tethered unmanned quad-rotor helicopter

Tarek N. Dief, Mohamed M. Kamra, Shigeo Yoshida

Research output: Contribution to journalArticlepeer-review

4 Citations (Scopus)


In this paper, a strategy for the preliminary design of Quad-Rotor problem with emphasis on utilizing system identification methods for system presented. The algorithm of forgetting least square is applied for the real-time prediction of the system parameters. The presented strategy is applied to the mass-varying tethered Quad-Rotor. The presented system identification method provides the model parameters while the adaptive (Proportional, Integral, Derivative, and Accelerator) PID-A controller controls the system response in real-time flight. In this paper, a mathematical model for the Quad-Rotor is derived. The sensitivity analysis of the system is provided in detail. Then, a system identification algorithm is applied to study the change in parameters during flight. PID-A controller is designed to stabilize the system with mass-varying consideration. Finally, Simulation results of the full system are presented.

Original languageEnglish
Pages (from-to)215-223
Number of pages9
JournalInternational Review of Aerospace Engineering
Issue number4
Publication statusPublished - Jan 1 2017

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering
  • Aerospace Engineering
  • Fluid Flow and Transfer Processes
  • Electrical and Electronic Engineering


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