Staged Parameter Optimisation for a Robotic Bird Model


  • Sander Vlot Delft University of Technology
  • Marjolijn Heslinga Delft University of Technology
  • Bart Keulen Delft University of Technology
  • Jan Wymenga Delft University of Technology


This paper proposes a method to estimate a nonlinear mathematical model describing the dynamic behaviour of a robotic bird. Established knowledge on aircraft modelling and aerodynamics is used to derive an appropriate model structure. A new parameter optimisation method is developed, which consists of experiment design and staged parameter optimisation using datasets from test flights. The modelling method delivers promising results for predicting pitch and yaw of a model aeroplane and can be applied to the Robird when flight data become available.


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