Identificación Algebraica de Parámetros Asistida por Observadores GPI para un Helicóptero de Dos Grados de Libertad.

This paper proposes an alternative for parameter estimation of a helicopter with two degrees of freedom that operates under closed loop control. The main contribution of this work is a variant of the algebraic identification methodology, which involves the use of generalized proportional integral observers (GPI). These observers are responsible for providing the estimation of the time-derivatives of the system outputs for their direct computation in the cases where there are non-linear operations with difficult analytical manipulation. Initially, in order to estimate the parameters of interest, an algebraic identifier for each non-linear equation of the system is proposed. Subsequently, for the selection of the estimated parameters the criterion of integral squared error and the corresponding error index are adopted. Finally, experimental results that allow validating the identification strategy and the estimated parameters with respect to the model assumed are presented. [ABSTRACT FROM AUTHOR]