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. The algorithm of forgetting least square is applied for the realtime 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 analys is 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.