Coevolutionary Modelling of a Miniature Rotorcraft.

The paper considers the problem of synthesising accurate dynamic models of a miniature rotorcraft based on minimal physical assumptions, and using the models to develop a controller. The approach is based on the idea of building models that predict accelerations, and is implemented using evolutionary programming in a particularly efficient co-evolutionary framework. Both the structure and the parameters of the nonlinear models are jointly identified from real data. The modelling method is demonstrated and validated on a miniature quadrotor rotorcraft, and a controller based on the model is then developed and tested.