Dynamic modeling using system identification and attitude control design of GaneFly flapping wings micro aerial vehicle (FWMAV)

Flapping Wings MAV (FWMAV) is the result of UAV technology development with the mechanism of flapping wings and with the dimensions of the object as small as possible. Modeling of FWMAV dynamics is needed to predict future conditions based on information from current conditions and designed control actions. Modeling of the FWMAV system is done by system identification, based on measurable data from IMU sensors. Modeling is done each with a black-box approach using the N4SID estimation, while the grey-box approach is used structure parametric, using SSEST estimation. Then a fit model of these two models is compared by plotting the Paparazzi log with the output of the system obtained in MATLAB for the same input. Then this model will be simulated on SIMULINK. The automated PID Tuning is perform to obtain PID constants to be implemented into Paparazzi software for Pitch Loop and Roll Loop.