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

In this paper, a strategy for the preliminary design of Quad-Rotor problem with emphasis on utilizing system identification methods for system modeling.is 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.