Experimental identification of unmanned aerial vehicle model parameters based on the operator control signal and the object response

Authors

DOI:

https://doi.org/10.15587/2706-5448.2026.362822

Keywords:

identification, second-order dynamic model, UAV, model parameters, programmable controller

Abstract

The object of research is the process of identifying the parameters of the model of a separate channel of motion of an unmanned aerial vehicle (UAV). The paper addresses the problem of obtaining an accurate and simple computational procedure for estimating the time constant and damping coefficient of a UAV model represented as a second-order dynamic element, suitable for implementation in programmable controllers without the use of matrix libraries. The method is designed for implementation in programmable controllers without the use of matrix libraries. The identification procedure was developed using a dataset that includes 500 experimental UAV motion trials performed by operators in a computer-based simulator. The model parameters cover damping ratios in the range from 0.25 to 1.25 with a fixed time constant of 0.5 s. The obtained results provide an analytical calculation of the model parameters. Based on the theory of linear dynamic systems and the least squares method, the differential equation of the second-order system is transformed into a linear regression form. This is done using central finite differences to compute the first and second derivatives of the output signal. The parameter estimation is performed analytically, without using specialized software functions. This ensures compatibility with programmable logic controllers. To reduce sensitivity to noise during numerical differentiation, the experimental data are pre-smoothed. The analysis interval is limited to the dominant part of the transient response. The identified parameters show good agreement with the true model values. The relative error does not exceed 0.8% for the time constant and 1.2% for the damping ratio. The results can be used for PID controller autotuning and for the synthesis of adaptive control laws for UAVs. The identification procedure can be extended to online parameter estimation during flight, as well as to higher-order and nonlinear dynamic models.

Author Biographies

Oleksii Chornyi, Kremenchuk Mykhailo Ostrohradskyi National University

Doctor of Technical Science, Professor

Department of Automatic Control Systems and Electric Drives

Valerii Tytiuk, Kryvyi Rih National University

Doctor of Technical Sciences, Professor

Department of Electromechanics

Victor Busher, National University “Odessa Maritime Academy”

Doctor of Technical Sciences, Professor

Department of Electrical Engineering and Electronics

Yurii Zachepa, Kremenchuk Mykhailo Ostrohradskyi National University

Candidate of Technical Sciences, Associate Professor

Department of Automatic Control Systems and Electric Drives

Volodymyr Grabko, Vinnytsia National Technical University

Doctor of Technical Science, Professor

Department of Computerized Electromechanical Systems and Complexes

Andrii Romanets, Zaporizhzhia National University

РhD Student

Department of Electrical Engineering and Cyber-Physical Systems

Yuliia Mala, University of Customs and Finance

Candidate of Technical Sciences, Associate Professor

Department of Computer Science and Software Engineering

Dmytro Bilukhin, Ukrainian State University of Science and Technologies

Candidate of Technical Sciences, Associate Professor

Department of Electric Railway Rolling Stock

Mykola Babyak, Lviv Polytechnic National University

Candidate of Technical Sciences, Associate Professor

Department of Railway Transport

Olena Huliesha, Dniprovsky State Tehnical University

Candidate of Pedagogical Sciences, Associate Professor

Department of of Electronics and Electronic Communications

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Experimental identification of unmanned aerial vehicle model parameters based on the operator control signal and the object response

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Published

2026-05-29

How to Cite

Chornyi, O., Tytiuk, V., Busher, V., Zachepa, Y., Grabko, V., Romanets, A., Mala, Y., Bilukhin, D., Babyak, M., & Huliesha, O. (2026). Experimental identification of unmanned aerial vehicle model parameters based on the operator control signal and the object response. Technology Audit and Production Reserves, 3(2(89), 101–112. https://doi.org/10.15587/2706-5448.2026.362822

Issue

Vol. 3 No. 2(89) (2026): Information and control systems

Section

Systems and Control Processes

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Copyright (c) 2026 Oleksii Chornyi, Valerii Tytiuk, Victor Busher, Yurii Zachepa, Volodymyr Grabko, Andrii Romanets, Yuliia Mala, Dmytro Bilukhin, Mykola Babyak, Olena Huliesha

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