Signal Estimation for UAV Control Loop Identification Using Artificial Immune Systems

The paper aims to estimate a signal that best provides the identification of a quadrotor type Unmanned Aerial Vehicle angular control loop using a bioinspired metaheuristic Artificial Immune System algorithm. The angular control loop was approximated by a second-order system using the Recursive Least Square method. The results were satisfactory, presenting, in general, a rich enough signal to provide a correct estimation of the system.