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This paper describes a mathematical model of a small-scale helicopter developed at "Universidad Politecnica of Madrid" as a part of VAMPIRA (multi-sensor aerial vehicle for autonomous inspections) project. A hybrid (analytic and empiric) model of a small helicopter is presented. The stability and response of the model is presented after a brief comparison of different techniques for helicopters dynamic modelling as well as the parameters identification using genetic algorithms. Accuracy of the model is verified by comparing real flight and simulation data obtained during the experiments.
Date of Conference: 2-6 Aug. 2005