System identification of heave-yaw dynamics for small-scale unmanned helicopter using genetic algorithm

This paper focuses on the heave-yaw dynamics identification of a small-scale helicopter for full envelope flight. Firstly, a comprehensive mathematic model of heave-yaw dynamics is derived. Then, A real-coded multi-population adaptive genetic algorithm is proposed to identify the unknown parameters which can´t be measured directly. Based on real flight test data, the heave dynamics and the yaw dynamics are identified respectively. The effectiveness of the identified model is verified by comparing the response of simulation model with the actual response during the flight test. The results show that the identification model can predict the response of the small-scale helicopter accurately.